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RViz listens for TF messages, by default on topic /tf. That is the only way it knows where each part of the robot is relative to other parts of the robot.

On my (simulated) system, /tf is published by nodes amcl, robot_pose_ekf, robot_state_publisher, and gazebo. Perhaps you need to run more nodes to fill in the missing TF frames.

If nothing is filling in the /odom frame, you can try setting the "fixed frame" in RViz to /map or /base_footprint. For that matter, in my system I don't have a frame called /odom, I only have /odom_combined. Maybe that is the problem?