# Revision history [back]

After some investigation I figured out I wasn't handling the transformations properly. I had to add

<node pkg="tf2_ros" type="static_transform_publisher" name="bl_imu" args="0.5 0 0 0 0 0 base_link imu_link" />
<node pkg="tf" type="static_transform_publisher" name="world_frame" args="0 0 0 0 0 0 map odom 100" />


to my launch file where the argument in the bl_imu node is the offset of my IMU. The second line is just for rviz to work.

I also had to add a time stamp to my simulated data:

now = rospy.Time.now()


where imu is the Imu object I'm publishing (and similarly for odometry)

After some investigation I figured out I wasn't handling the transformations properly. I had to add the following to my launch file:

<node pkg="tf2_ros" type="static_transform_publisher" name="bl_imu" args="0.5 0 0 0 0 0 base_link imu_link" />
<node pkg="tf" type="static_transform_publisher" name="world_frame" args="0 0 0 0 0 0 map odom 100" />


to my launch file where the The argument in the bl_imu node is the offset of my IMU. The second line is just for rviz to work.

I also had to add a time stamp to my simulated data:

now = rospy.Time.now()


where imu is the Imu object I'm publishing (and similarly for odometry)

After some investigation I figured out I wasn't handling the transformations properly. I had to add the following to my launch file:

<node pkg="tf2_ros" type="static_transform_publisher" name="bl_imu" args="0.5 0 0 0 0 0 base_link imu_link" />
<node pkg="tf" type="static_transform_publisher" name="world_frame" args="0 0 0 0 0 0 map odom 100" />


The argument in the bl_imu node is the offset of my IMU. The second line is just for rviz to work.

I also had to add a time stamp to my simulated data:

now = rospy.Time.now()


where imu is the Imu object I'm publishing (and similarly for odometry)

After some investigation I figured out I wasn't handling the transformations properly. I had to add the following to my launch file:

<node pkg="tf2_ros" type="static_transform_publisher" name="bl_imu" args="0.5 0 0 0 0 0 base_link imu_link" />
<node pkg="tf" type="static_transform_publisher" name="world_frame" args="0 0 0 0 0 0 map odom 100" />


The argument in the bl_imu node is the offset of my IMU. The second line is just for rviz to work.

I also had to add a time stamp to my simulated data:

now = rospy.Time.now()


where imu is the Imu object I'm publishing (and similarly for odometry)

After some investigation I figured out I wasn't handling the transformations properly. I had to add the following to my launch file:

<node pkg="tf2_ros" type="static_transform_publisher" name="bl_imu" args="0.5 0 0 0 0 0 base_link imu_link" />
<node pkg="tf" type="static_transform_publisher" name="world_frame" args="0 0 0 0 0 0 map odom 100" />


The argument in the bl_imu node is the offset of my IMU. IMU and "imu_link" is the header.header_id of my imu topic. The second line is just for rviz to work.

I also had to add a time stamp to my simulated data:

now = rospy.Time.now()


where imu is the Imu object I'm publishing (and similarly for odometry)

After some investigation I figured out I wasn't handling the transformations properly. I had to add the following to my launch file:

<node pkg="tf2_ros" type="static_transform_publisher" name="bl_imu" args="0.5 0 0 0 0 0 base_link imu_link" />
<node pkg="tf" type="static_transform_publisher" name="world_frame" args="0 0 0 0 0 0 map odom 100" />


The argument in the bl_imu node is the offset of my IMU and "imu_link" is the header.header_id of my imu topic. The second line is just for rviz to work.

I also had to add a time stamp to my simulated data:

now = rospy.Time.now()