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The odometry frame for the PR2 is not odom but odom_combined. You need to set the corresponding parameter for fake_localization. For instance, the following launch file should work:

<launch>
  <node name=fake_localizaton" type="fake_localization" pkg="fake_localization">
    <rosparam>
      odom_frame_id: odom_combined
      base_frame_id: base_footprint
    </rosparam>
  </node>
</launch>

The odometry frame for the PR2 is not odom but odom_combined. You need to set the corresponding parameter for fake_localization. For instance, the following launch file should work:

<launch>
  <node name=fake_localizaton" name="fake_localizaton" type="fake_localization" pkg="fake_localization">
    <rosparam>
      odom_frame_id: odom_combined
      base_frame_id: base_footprint
    </rosparam>
  </node>
</launch>