tf transformation for simulated kinect Gazebo (How to publish Gazebo Time?)
I have a Gazebo-Ros simulation where I use a range laser to get scans which is working properly and I am able to use the autonomous navigation on a simulated environment. Now I wanted to use a kinect as a sensor to get scans using the depthimage to laserscan node to substitute the range laser. After simulating this kinect, including all the different config files, nodes... I am able to read the scans after the cloudthrottle, so I think I have much of it correctly configured, but I am having problems with the tf's tranformations for this simulated kinect, when I try to read the topic inside rviz I can not get the transform between /map and the kinect frame I publish, I think is only a matter of not publishing the right tf transform for the kinect or maybe I need another I am not aware of. Right now for this kinect I only publish a static transform for the output frame id (depth_cam) to base_link
After remapping the output frame topic to /camera_depth
< node pkg="tf" type="static_transform_publisher" name "depth_cam_tf" args="0 -0.02 0 0 0 0 /base_link /camera_depth >
output from tf tf_monitor
RESULTS: for all Frames
Frames:
Frame: /Pioneer3AT/Sonar_1 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499152 Max Delay: 0
Frame: /Pioneer3AT/base_link published by /Pioneer3AT_Gazebo Average Delay: -0.0493165 Max Delay: 0
Frame: /Pioneer3AT/camera_depth published by /depth_cam_tf Average Delay: -0.0996457 Max Delay: 0
Frame: /Pioneer3AT/front_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492777 Max Delay: 0
Frame: /Pioneer3AT/front_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499125 Max Delay: 0
Frame: /Pioneer3AT/front_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499122 Max Delay: 0
Frame: /Pioneer3AT/front_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492735 Max Delay: 0
Frame: /Pioneer3AT/front_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499119 Max Delay: 0
Frame: /Pioneer3AT/front_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499117 Max Delay: 0
Frame: /Pioneer3AT/front_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499114 Max Delay: 0
Frame: /Pioneer3AT/laserscan published by /Pioneer3AT_laserscan_tf Average Delay: -0.0326276 Max Delay: 0
Frame: /Pioneer3AT/odom published by /Pioneer3AT/amcl Average Delay: -0.494709 Max Delay: 0
Frame: /Pioneer3AT/rear_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492701 Max Delay: 0
Frame: /Pioneer3AT/rear_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499111 Max Delay: 0
Frame: /Pioneer3AT/rear_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499108 Max Delay: 0
Frame: /Pioneer3AT/rear_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492668 Max Delay: 0
Frame: /Pioneer3AT/rear_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499105 Max Delay: 0
Frame: /Pioneer3AT/rear_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499102 Max Delay: 0
Frame: /Pioneer3AT/rear_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.4991 Max Delay: 0
Frame: /Pioneer3AT/top_plate published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499128 Max Delay: 0
All Broadcasters:
Node: /Pioneer3AT/amcl 18.6052 Hz, Average Delay: -0.494709 Max Delay: 0
Node: /Pioneer3AT_Gazebo 48.0592 Hz, Average Delay: -0.0493165 Max Delay: 0
Node: /Pioneer3AT_laserscan_tf 30.4796 Hz, Average Delay: -0.0326276 Max ...
I think that you'll be more likely to get answers if you make your question more readable. Use the markdown format, add line breaks to the tf_monitor output, maybe even include a link to an uploaded copy of frames.pdf
Gazebo is not publishing in the /clock topic. I have /use_sim_time set to "true". Is there anything else needed to publish Gazebo's clock? Thats the simpler I could thought. I wanted to upload the frames.pdf but I do not have enough Karma to do so, that's why I had to do it that way.