imu frame_id doesn't match base_link
The frameid of imu data in my bagfile is imulink, not baselink. After rosrun the node, I didn't get odometry/filtered data flow. I assume there's problem with frameid mismatching .So I add
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 3.14 0 0 base_link imu_link 100" />
into ekfcustomized.launch(mostly copied from ekftemplate.launch) to realize static transform but it's not working. Shall I add code about transforming into the package ?
I do appreciate it if someone can give me some tips. Thank you so much!
Asked by DaDaLee on 2017-05-04 03:55:12 UTC
Comments
use the preformatted text buttons to make your code readable. Also, some more hints about what you are trying to achieve and what the actual problem is might help.
What can be seen here is that you are publishing the static tranform from
base_linktobase_linkwhich should not work at all....Asked by mgruhler on 2017-05-04 04:37:43 UTC
Thank you. I try to achieve static transform between imu_link which is the frame_id of my imu data and base_link. But I don't know how
Asked by DaDaLee on 2017-05-04 05:04:24 UTC
replace second
base_linkwithimu_link?Asked by mgruhler on 2017-05-04 05:24:41 UTC
Yeap, because I need to transform imu_link to base_link. The data to be fused into the format is required to be in base_link frame.
Asked by DaDaLee on 2017-05-04 07:36:30 UTC