From 1e1984248262d8ecaab5c0de2daec72810c87a72 Mon Sep 17 00:00:00 2001 From: hello-binit <64861565+hello-binit@users.noreply.github.com> Date: Thu, 11 Jun 2020 03:56:13 -0400 Subject: [PATCH] Fixed KeyError on broadcast_odom_tf --- stretch_core/nodes/stretch_driver | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/stretch_core/nodes/stretch_driver b/stretch_core/nodes/stretch_driver index 4217b4e..fa1f423 100755 --- a/stretch_core/nodes/stretch_driver +++ b/stretch_core/nodes/stretch_driver @@ -1255,7 +1255,7 @@ class StretchBodyNode: mode = rospy.get_param('~mode', "position") rospy.loginfo('mode = ' + str(mode)) - self.broadcast_odom_tf = rospy.get_param('~broadcast_odom_tf') + self.broadcast_odom_tf = rospy.get_param('~broadcast_odom_tf', False) rospy.loginfo('broadcast_odom_tf = ' + str(self.broadcast_odom_tf)) if self.broadcast_odom_tf: self.tf_broadcaster = tf2_ros.TransformBroadcaster()