Providing a link between gazebo plugins and base_link in the robot model
Hi,
I have added the following plugins to my .gazebo file. When I do rostopic echo for all the topics, all the information about poses are updated. My problem is that when I do "rosrun tf viewframes", there is no link between odom and baselink. I would like to update the information of what I got from Gazebo into rviz tf tree. So, do I need to add some tags to the plugins in .gazebo file? Or do I need to add some links in the urdf file?
<gazebo>
<!-- GPS plugin -->
<plugin name="robot_gps_sim" filename="libhector_gazebo_ros_gps.so">
<alwaysOn>true</alwaysOn>
<updateRate>4.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>gps</topicName>
<velocityTopicName>gps_velocity</velocityTopicName>
<drift>5.0 5.0 5.0</drift>
<gaussianNoise>0.1 0.1 0.1</gaussianNoise>
<velocityDrift>0 0 0</velocityDrift>
<velocityGaussianNoise>0.1 0.1 0.1</velocityGaussianNoise>
</plugin>
<!-- Groundtruth plugin -->
<plugin name="robot_groundtruth_sim" filename="libgazebo_ros_p3d.so">
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>odom</topicName>
<gaussianNoise>0.0</gaussianNoise>
<frameName>map</frameName>
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets>
</plugin>
<!-- IMU plugin -->
<plugin name="robot_imu_sim" filename="libhector_gazebo_ros_imu.so">
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<bodyName>base_link</bodyName>
<frameID>robot_link1</frameID>
<topicName>robot/IMU</topicName>
<xyzOffset>0.0 0.0 0.0</xyzOffset>
<rpyOffset>0.0 0.0 0.0</rpyOffset>
<gaussianNoise>0</gaussianNoise>
<accelDrift>0.5 0.5 0.5</accelDrift>
<accelGaussianNoise>0.35 0.35 0.3</accelGaussianNoise>
<rateDrift>0.0 0.0 0.0</rateDrift>
<rateGaussianNoise>0.00 0.00 0.00</rateGaussianNoise>
<headingDrift>0.0</headingDrift>
<headingGaussianNoise>0.00</headingGaussianNoise>
</plugin>
</gazebo>
Thank you.
Asked by MahsaP on 2016-05-11 08:41:16 UTC
Comments
@MahsaP: please do not double-post.
Duplicate of http://answers.ros.org/question/234040/tf-tree-problem-with-map-odom-base_link/
Asked by mgruhler on 2016-05-11 08:46:28 UTC
@mig OK. But, this question can be answered differently.
Asked by MahsaP on 2016-05-11 08:58:25 UTC
@MahsaP you think so? Well, then feel free to reopen, but it seemed pretty the same to me ;-) Especially as the other has not been answered yet and contains more information...
Asked by mgruhler on 2016-05-11 09:08:55 UTC
@mig ok I will wait for the other post.
Asked by MahsaP on 2016-05-11 09:15:20 UTC