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1 | initial version |
The competing is expected. In ROS robots are defined in a description file, most of the time stored as .urdf file in a <robot_name>_description package. In this case it is the turtlebot_description package. In the folder urdf/sensors
you can find the files containing the coordinates of the xtion. Check which urdf your launch file is loading as there seems to be 2 description files for the xtion.
You can find those description files on your computer by typing
roscd turtlebot_description
I think it is not recommended to change stuff in /opt/ros/indigo/share/turtlebot_description
where your turtlebot packages would be stored if you installed them using apt-get. You could clone the package in your catkin workspace and compile it by yourself and make the changes there.
2 | No.2 Revision |
The competing is expected. In ROS robots are defined in a description file, most of the time stored as .urdf file in a <robot_name>_description package. When you launch your robot, the robot_state_publisher will read those files and publish a tf tree.
In this case it the package you need is the turtlebot_description package. In the folder urdf/sensors
you can find the files containing the coordinates of the xtion. Check which urdf your launch file is loading as there seems to be 2 description files for the xtion.
You can find those description files on your computer by typing
roscd turtlebot_description
I think it is not recommended to change stuff in /opt/ros/indigo/share/turtlebot_description
where your turtlebot packages would be stored if you installed them using apt-get. You could clone the package in your catkin workspace and compile it by yourself and make the changes there.
3 | No.3 Revision |
The competing is expected. In ROS robots are defined in a description file, most of the time stored as .urdf file in a <robot_name>_description package. When you launch your robot, the robot_state_publisher will read those files and publish a tf tree. If you publish an additional transform between two parent-child nodes of that tree, there will be competition.
In this the case of the Turtlebot the package you need is the turtlebot_description package. In the folder urdf/sensors
you can find the files containing the coordinates of the xtion. Check which urdf your launch file is loading as there seems to be 2 description files for the xtion.
You can find those description files on your computer by typing
roscd turtlebot_description
I think it is not recommended to change stuff in /opt/ros/indigo/share/turtlebot_description
where your turtlebot packages would be stored if you installed them using apt-get. You could clone the package in your catkin workspace and compile compile/install it by yourself and make the changes there.