I have been examining the rosbot_webui project for a while now.
I have noticed that both the /serial_node and the /pose_to_tf_transform node publish the transform based on the same pose (received and also published by rosbot.getPose() in serial node), where frame is “odom” and child frame is “base_link”.
Apparently, slam_gmapping node subscribes to that transform for creating the map.
My question is, is it necessary that both nodes publish the transform in this case? If it is not, could it be better to remove one for performance?
Thanks in advance.