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It sounds like perhaps your base_link->odom transform is not updating. Does the robot move in rviz if you joystick or push it around?

The Robot Setup tutorial has details on setting up an example odometry source.

It sounds like perhaps your base_link->odom transform is not updating. Does the robot move in rviz if you joystick or push it around?

The Robot Setup tutorial has details on setting up an example odometry source.

A good sanity check for whether or not your odometry is working correctly is to joystick the robot around with the following rviz configuration:

 set the fixed_frame to odom
 set the decay_time on the laser scanner's topic to something very large (1000 or so should do)

If your odometry is working properly (and is accurate), you should get something that looks like a map of your environment. If you don't get anything like that, there is definitely a problem with your base_link->odom transform.