Kepp back odom

Author: stevedanomodolor

nav2_minimal_tb3_sim/urdf/gz_waffle_gps.sdf.xacro

@@ -520,9 +520,10 @@
 
         <!-- output -->
         <odom_topic>$(arg namespace)/odom</odom_topic>
-        <!-- <tf_topic>$(arg namespace)/tf</tf_topic> -->
+        <tf_topic>$(arg namespace)/tf</tf_topic>
         <frame_id>odom</frame_id>
         <child_frame_id>base_footprint</child_frame_id>
+        <odom_publish_frequency>30</odom_publish_frequency>
 
       </plugin>