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1 | initial version |
I noticed a couple of things in your launch file:
/odometry/filtered is a topic published by EKF Localisation and not a frame. Remapping it to /odom makes it available on the topic /odom which can be used by laser_scan_matcher.
You do not need these static transform publishers between map
and odometry/filtered/
. The transform between map -> odom will be published by gmapping.
I am not sure what your base_link is called as you have also used it as the name of a static_transform_publisher and also the name of your base_frame. You need to provide a transform between laser_frame -> base_link, with a static transform publisher. In your case base_frame
to base_link
(or however you call it in your URDF file).
You also need a transform between base_link
and odom
. If you want to use Laser Scan Matcher for this transform, change your base_frame to base_link
2 | No.2 Revision |
I noticed a couple of things in your launch file:
/odometry/filtered is a topic published by EKF Localisation and not a frame. Remapping it to /odom makes it available on the topic /odom which can be used by laser_scan_matcher.
You do not need these static transform publishers between map
and odometry/filtered/
. The transform between map -> odom will be published by gmapping.
I am not sure what your base_link is called as you have also used it as the name of a static_transform_publisher and also the name of your base_frame. You need to provide a transform between laser_frame -> base_link, with a static transform publisher. In your case base_frame
to base_link
(or however you call it in your URDF file).
You also need a transform between base_link
and odom
. If you want to use Laser Scan Matcher for this transform, change your base_frame to base_link
Hope this helps!