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 | 1 | initial version |
The most likely cause I can see from your description of the problem is that the timestamp of the tf transform you´re broadcasting is not correct. As requested also in a comment, you should edit your post with further info. You can also try both of these commands:
rosrun tf tf_echo base_link laser_link
rosrun tf tf_echo odom base_link
If the first one fails to show a transfom, your static publisher does not work. if the second one fails, your TransformBroadcaster is the culprit.
| | 2 | No.2 Revision |
The most likely cause I can see from your description of the problem is that the timestamp of the tf transform you´re broadcasting is not correct. As requested also in a comment, you should edit your post with further info. You can also try both of these commands:
rosrun tf tf_echo base_link laser_link
rosrun tf tf_echo odom base_link
If the first one fails to show a transfom, your static publisher does not work. if the second one fails, your TransformBroadcaster is the culprit.
/edit: As you can see from the posted frames.pdf, the transform between odom and base_link published to tf is 44 years old, while the transform published to by the static publishers is timestamped ~0.5 seconds into the future (as it should be). This suggests you don´t timestamp the data when publishing via the TransformBroadcaster correctly.
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