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tf tutorial: turtle2 doesn't follow turtle1

asked 2011-07-06 20:59:23 -0600

Tien Thanh gravatar image

updated 2011-08-22 10:02:07 -0600

mjcarroll gravatar image

I'm working on this tutorial: http://www.ros.org/wiki/tf/Tutorials/... After execute "roslaunch turtle_tf turtle_tf_demo.launch" I can see 2 turtles spawned, however turtle2 doesn't move. Output of "rosrun tf tf_echo turtle1 turtle2" is

At time 1310028986.770 - Translation: [-3.380, 3.556, 0.000] - Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000] in RPY [0.000, -0.000, 0.000]

I'm using ROS diamondback in Ubuntu 10.04

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answered 2011-08-23 08:57:31 -0600

mmwise gravatar image

I just ran the demo and it took a couple seconds for turtle2 to start following turtle1 but it did follow eventually. Can you run tf_monitor to see if the turtle1 and turtle2 frames are being published by their broadcasters.

mwise@bws:~/maintained_stacks$ rosrun tf tf_monitor 



RESULTS: for all Frames

Frames:
Frame: turtle1 published by /turtle1_tf_broadcaster Average Delay: 0.000284624 Max Delay: 0.000325169
Frame: turtle2 published by /turtle2_tf_broadcaster Average Delay: 0.000212012 Max Delay: 0.000221337

All Broadcasters:
Node: /turtle1_tf_broadcaster 325.392 Hz, Average Delay: 0.000284624 Max Delay: 0.000325169
Node: /turtle2_tf_broadcaster 328.424 Hz, Average Delay: 0.000212012 Max Delay: 0.000221337



RESULTS: for all Frames

Frames:
Frame: turtle1 published by /turtle1_tf_broadcaster Average Delay: 0.000256403 Max Delay: 0.000325169
Frame: turtle2 published by /turtle2_tf_broadcaster Average Delay: 0.000237316 Max Delay: 0.000270265

All Broadcasters:
Node: /turtle1_tf_broadcaster 69.198 Hz, Average Delay: 0.000256403 Max Delay: 0.000325169
Node: /turtle2_tf_broadcaster 69.1953 Hz, Average Delay: 0.000237316 Max Delay: 0.000270265
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Asked: 2011-07-06 20:59:23 -0600

Seen: 331 times

Last updated: Aug 23 '11