Revision history [back]

Hi dornhege, thanks for your answer.

I tried to modify the chassis_footprint -> chassis tf as you said to me and the rare frame "jumps" problem and views it's solved.

tf_broadcaster is now:

broadcaster.sendTransform(tf::StampedTransform(tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.0,0.0,0.0)),ros::Time::now(), "map", "odom"));
broadcaster.sendTransform(tf::StampedTransform(tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.0,0.0,0.130)),ros::Time::now(),"chassis_footprint", "chassis"));
broadcaster.sendTransform(tf::StampedTransform(tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.12,0.0,0.285)),ros::Time::now(),"chassis", "hokuyo_laser_link"));

However, the robot continues without following the path. When I launch the navigation stack and the rViz I don't see any error, only a few warnings like this:

[ WARN] Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0950 seconds

and this:

[ WARN] Message from [/guardian_odom_node] has a non-fully-qualified frame_id [odom]. Resolved locally to [/odom]. This is will likely not work in multi-robot systems. This message will only print once.

Answering to your question about nav_msgs/Odometry, I have a node that subscribes the joint_states topic, computes the odometry and publish it to the /odom topic.

I moved the robot with the teleop so you can see the diferent frames and path. Do you see anything rare??

Thanks!