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The current TF-based metrics use the distance between origins of TF frames. But to check whether a robot eg. passed through some waypoint etc that doesn't have a TF frame, calculating the distance between two poses would be very handy.
The current TF-based metrics use the distance between origins of TF frames. But to check whether a robot eg. passed through some waypoint etc that doesn't have a TF frame, calculating the distance between two poses would be very handy.