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For example, I add a table and a cup before PR2.
This is the picture of planning scene:
This is the picture that show PR2 robot model.
It can easily found that two PR2 in different position.
Is it normal? Why?
If not, how to solve it?
Thank you~
You need to make sure that the fixed frame in RVIZ (under global options) is set to the same frame as the root of the planning scene. Currently, you have it set to "base_link" -- if using the default settings for the PR2, you need to set it to "odom_combined"
If odom_combined is the frame that the planning scene is referenced to (depends on what the root of your tree is based on the SRDF/URDF), then that happens to be where the plugin puts everything properly. Really, the plugin *should* transform to other frames, but it currently does not do that.
Asked: 2014-07-02 08:55:54 -0500
Seen: 305 times
Last updated: Jul 02 '14
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