actually publish tf

src/navigation/nav_bringup/config/localisation_params.yaml

@@ -10,7 +10,7 @@ odom_filter_node:
 
  frequency: 50.0 # https://docs.ros.org/en/noetic/api/robot_localization/html/state_estimation_nodes.html#frequency
  two_d_mode: true # https://docs.ros.org/en/noetic/api/robot_localization/html/state_estimation_nodes.html#two-d-mode
- publish_tf: False # https://docs.ros.org/en/noetic/api/robot_localization/html/state_estimation_nodes.html#publish-tf
+ publish_tf: true # https://docs.ros.org/en/noetic/api/robot_localization/html/state_estimation_nodes.html#publish-tf
  sensor_timeout: 0.1 # https://docs.ros.org/en/noetic/api/robot_localization/html/state_estimation_nodes.html#sensor-timeout
  dynamic_process_noise_covariance: true # https://docs.ros.org/en/noetic/api/robot_localization/html/state_estimation_nodes.html#dynamic-process-noise-covariance
  transform_time_offset: 0.0 # https://docs.ros.org/en/noetic/api/robot_localization/html/state_estimation_nodes.html#transform-time-offset
@@ -63,6 +63,8 @@ odom_filter_node:
  # false, false, false]
  # odom2_relative: true
 
+ # for now, this is just used to have a 2nd point of input so the package can run
+ # even though its all false and not used currently
  twist0: vehicle/wheel_twist
  twist0_config: [false, false, false, # x, y, z
  false, false, false, # roll, pitch, yaw