Revision history [back]

You need to make sure that the enable_odom_tf parameter is set to true for your controller. Then, as long as rviz has the fixed frame as odom, it will move. See appropriate YAML file below:

tracks_diff_drive_controller:
  type: diff_drive_controller/DiffDriveController
  left_wheel: base_to_wheelleft
  right_wheel: base_to_wheelright
  publish_rate: 10
  base_frame_id: base_footprint
  wheel_separation: 1.27
  wheel_radius: 0.22
  enable_odom_tf: true
  pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 0.03]
  twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 0.03]
  linear:
    x:
      has_velocity_limits    : true
      max_velocity           : 1.28   # m/s
      has_acceleration_limits: true
      max_acceleration       : 3.0   # m/s^2
  angular:
    z:
      has_velocity_limits    : true
      max_velocity           : 0.5   # rad/s
      has_acceleration_limits: true
      max_acceleration       : 1.0   # rad/s^2