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Thanks to the information you've provided now I can help you solve your problem.

The ekf_localization_node that you run provides the transformation between odom and base, the static_transform_publisher instance also broadcasts transformation between imu and base. So this will be the result:

odom -> base , imu -> base

while the correct tf tree must be like this:

odom -> base -> imu

Your base frame has two parents which is clearly not possible. Each frame can only have one parent.

In your case, you are running static_transform_publisher with wrong input parameters.

    <node pkg="tf" type="static_transform_publisher" name="imu_to_robot_base" args="0 0 0 0 0 0 $(arg imu_frame_id) base 100" />

Just switch the parent and child frame in the input arguments and your problem should be solved. The result must be like this:

    <node pkg="tf" type="static_transform_publisher" name="imu_to_robot_base" args="0 0 0 0 0 0 base $(arg imu_frame_id) 100" />