It is definitely redundant, yet it will simplify the SoT integration.
If it means a too big overhead in aruco, I will implement a
position-extractor node inside the SoT


On Thu, Feb 27, 2014 at 9:02 AM, Jordi Pages <notifications@github.com>wrote:

> In src/simple_single.cpp:
>
> > @@ -86,6 +88,8 @@ class ArucoSimple
> >      image_pub = it.advertise("result", 1);
> >      debug_pub = it.advertise("debug", 1);
> >      pose_pub = nh.advertise<geometry_msgs::PoseStamped>("pose", 100);
> > +    transform_pub = nh.advertise<geometry_msgs::TransformStamped>("transform", 100);
> > +    position_pub = nh.advertise<geometry_msgs::Vector3Stamped>("position", 100);
>
> Do you really need a Vector3Stamped publisher? The vector inside
> TransformStamped is not sufficient? Is it not redundant? Is this a
> requirement for SoT?
>
> --
> Reply to this email directly or view it on GitHub<https://github.com/pal-robotics/aruco_ros/pull/2/files#r10114932>
> .
>