RViz & amcl - fixed_frame mismatch for initialpose
I have a multi-robot system (two robots, for now) in which each is pushed into a namespace (/robot1
and /robot2
) using Jakub's answer on how to setup a mulit-robot system (which I updated for Indigo and use the Pioneer 3dx instead of the turtlebot).
Most everything is working fine except for when I try to set the inital pose manually for amcl
using RViz
. I set the fixed_frame
to be /map
which is what both robots (and amcl
for both) are using. amcl
is subscribed to /robot1/initialpose
for one robot and /robot2/initialpose
for the other so, using the Tool Properties
in RViz
I set the topic for the 2D Pose Estimate
to be /robot1/initialpose
.
When I attempt to set the pose from RViz
I get the following warning from amcl
:
Ignoring initial pose in frame "map"; initial poses must be in the global frame, "/map"
This warning comes up despite the fact that I set /map
as the fixed_frame
in RViz
. When I echo the topic and set the pose, I get this:
header:
seq: 0
stamp:
secs: 282
nsecs: 751000000
frame_id: map
pose:
pose:
position:
x: 25.1116027832
y: 51.6672058105
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.827484384125
w: 0.561488730099
covariance: [0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06853891945200942]
which results in the above error (note the frame_id
of map
without a /
). However, if I publish the same message myself but with a frame_id
of /map
instead of map
I get the following output from amcl
:
Setting pose (408.542000): 25.112 51.667 -1.949
How do I change thefixed_frame
for the initialpose
or am I missing sometheing here? Is it a bug?