Robot position does not synchronized in RViz and Stageros [closed]

edit

Hi,

My robot's position is different in RViz and Stageros.When my robot moves on stage,i can't see this in rviz map. Also when I tried to use 2D Pose button in RViz, my robot position does not change in rviz.

When i start RViz and Stageros, the map is not synchronized. The origin of my map in RViz is at the corner of the map while the origin of my map in Stageros is at the center of the map.What should i do to syncronize my stage and rviz map?

Thanks.

This is my mymap.yaml file content;

 image: mymap.pgm
 resolution: 0.050000
 origin: [0.00000, 0.00000, 0.000000]
 negate: 0
 occupied_thresh: 0.65
 free_thresh: 0.196

This is my myworld.world file;

 resolution 0.02 
 interval_sim 100 

 window
 ( 
  size [ 800.000 600.000 ] 
  scale 28.806 
 )

 define map model
 (
  color "gray30"
  boundary 0
  gui_nose 0
  gui_grid 0
  gui_move 0
  gui_outline 0
  obstacle_return 1
  gripper_return 0
  fiducial_return 0
  )

  map
  (
   name "mymap"
   size [10.9  17.75 0.5]
   pose [0 0 0 0]
   bitmap "mymap.pgm"
   )

  define hokuyo ranger
  (
   sensor(
          range [0 4.0]
          fov 270.25
          samples 481
          )
    color "black"
    size [ 0.05 0.05 0.1 ]
    ctrl "lasernoise"
   )


   define turtlebot position
   (
    # localisation "odom"
    odom_error [0.01 0.05 0.01 0.02 0.5 1.0]
    size [0.35 0.35 0.45]
    origin [0 0 0 0]
    gui_nose 1
    drive "diff"
    hokuyo(pose [ 0.0 0.000 0 0.000 ])
    bitmap "robot.png"
   )

   turtlebot( pose [1 0 0 0] color "red")

This is my launch file;

   <launch>
       <param name="/use_sim_time" value="true"/>

       <node name="map_server" pkg="map_server" type="map_server" args="$(find    my_world)/world/mymap.yaml" respawn="false" />
       <node pkg="stage_ros" type="stageros" name="stageros" args="$(find my_world)/world/myworld.world" respawn="false" >
           <param name="base_watchdog_timeout" value="0.2"/>
       </node>

       <node name="rviz" pkg="rviz" type="rviz" args="-d $(find my_world)/config.rviz" />
       <node name="tf" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 /map /odom 100" />


  </launch>