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The wrong behavior is caused because the tf_broadacaster_from_base_link_to_map is a wrong implementation of the connection between the map and the base_link and a really bad idea that I had. As this page indicates, you have to have a map -> base_footprint (map -> odom in case you want to use odometry) transform. This transform can be easily implemented using the hector_mapping launch file.

I tried to create the base_link to map transform because I had some problems (more info in this question) but this goes against the logic that the stack was created. Moving the map in relation to robot just to avoid the odom frame is wrong and the reason why I was getting these results.

Anyway, I decided to use odometry just to see what results I can get (before actually solving my issue with the gazebo broadcaster from the differential drive plugin in my urdf model) and after testing the parameters, I managed to made the robot to move along the path and give good autonomous exploration results.

The wrong behavior is caused because the tf_broadacaster_from_base_link_to_map is a wrong implementation of the connection between the map and the base_link and a really bad idea that I had. As this page indicates, you have to have a map -> base_footprint (map -> odom in case you want to use odometry) transform. This transform can be easily implemented using the hector_mapping launch file.

I tried to create the base_link to map transform because I had some problems (more info in this question) but this goes against the logic that the stack was created. Moving the map in relation to robot just to avoid the odom frame is wrong and it's the reason why I was getting these results.

Anyway, I decided to use odometry just to see what results I can get (before actually solving my issue with the gazebo broadcaster from the differential drive plugin in my urdf model) and after testing the parameters, I managed to made the robot to move along the path and give get good autonomous exploration results.