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 | 1 | initial version |
I believe that the referenced post is in regards to moving joints as encoders for the joints are mentioned. As far as I know if you don't care about publishing moving joints then you should be able to publish the transforms using the urdf file. You will need to give the transformation between base_footprint and odom frames, however.
| | 2 | No.2 Revision |
I believe that the referenced post is in regards to moving joints as encoders for the joints are mentioned. As far as I know if you don't care about publishing moving joints then you should be able to publish the transforms using the urdf urdf file. You will need to give the transformation between base_footprint base_footprint and odom odom frames, however. however.
| | 3 | No.3 Revision |
I believe that the referenced post is in regards to moving joints as encoders for the joints are mentioned. As far as I know if you don't care about publishing moving joints then you should be able to publish the transforms using the urdf file. You will need to give the transformation between base_footprint and odom frames, however.
You'll need a a way to publish odometry. Take a look at this navigation tutorial that goes over how to publish the odometry. Once you have your odometry published, you can write a node that connects those frames or maybe a static publisher.
| | 4 | No.4 Revision |
I believe that the referenced post is in regards to moving joints as encoders for the joints are mentioned. As far as I know if you don't care about publishing moving joints then you should be able to publish the transforms using the urdf file. You will need to give the transformation between base_footprint and odom frames, however.
You'll need a a way to publish odometry. Take a look at this navigation tutorial tutorial that goes over how to publish the odometry. Once you have your odometry published, you can write a node that connects those frames or maybe a static publisher.
| | 5 | No.5 Revision |
I believe that the referenced post is in regards to moving joints as encoders for the joints are mentioned. As far as I know if you don't care about publishing moving joints then you should be able to publish the transforms using the urdf file. You will need to give the transformation between base_footprint and odom frames, however.
You'll need a a way to publish odometry. Take a look at this navigation tutorial that goes over how to publish the odometry. Once you have your odometry published, (as an example and for learning purposes) Of course, you can write also use a node that connects those frames or maybe a static publisher.localization package such as rtabmap_ros, as you mentioned in your question. Check out the rtabmap_ros tutorial on navigation and mapping for help with that.
| | 6 | No.6 Revision |
I believe that the referenced post is in regards to moving joints as encoders for the joints are mentioned. As far as I know if you don't care about publishing moving joints then you should be able to publish the transforms using the urdf file. You will need to give the transformation between base_footprint and odom frames, however.
You'll need a a way to publish odometry. Take a look at this navigation tutorial that goes over how to publish the odometry (as an example and for learning purposes) purposes). Of course, you can also use a localization package such as rtabmap_ros, as you mentioned in your question. Check out the rtabmap_ros tutorial on navigation and mapping for help with that.
Edit
I would say that the joint_state_publisher is unnecessary (and is definitely crashing as you've said). Try running your launch file with out that node running as it isn't necessary. From the joint_state_publisher wiki, the joint_state_publisher
finds all of the non-fixed joints and publishes a JointState message with all those joints defined.
so you shouldn't need it because you only have fixed joints.
For the transforms, you want map -> odom -> base_link -> other_frames (not base_link -> odom). From the hector_mapping wiki, it provides the map -> odom transformations. Now, you just need odom -> base_link.
Yes, rtabmap_ros can provide this transformation! Just look at the section titled 4.3.6 Provided Transforms under the Visual Odometry section and you'll see that it does indeed provide that transform.
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