creating a /map frame of a fixed base robot.

Hello,

I am working with a fixd base, 2 arm robot (pi4 with ur10 arms) and I noticed that there is no odom and map frame in the tf data. I further would need to create a transform between map and base_link (for which I am using fake localization). But first, i need a map frame. Since the base is fixed it does not have a, odom frame. How to I create a /map frame on a fixed base robot? the ROS nav tutorial suggests examples of a movable base robot.

Asked by bender on 2017-01-09 18:33:12 UTC

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Answers

The /map frame is typically used to localize a robot with respect to a map; since your robot is stationary it seems like you could just use a static transform publisher, or even include the transform from /map to /base_link in your URDF.

Asked by ahendrix on 2017-01-09 22:43:50 UTC

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I want to leave a comment here about what I did. Since the robot was stationary, it was not eventualy important to localize it at all. I had a base_link frame and a world frame. I was left with two options, either to create a map frame and transform it with no translation or rotation. (identity rotation matrix and zero translation matrix) Or just rename the world frame to map frame. (this worked for me).

Asked by bender on 2017-01-17 15:05:08 UTC