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odometry Tutorial and Rviz

asked 2011-07-27 02:09:21 -0600

ringo42 gravatar image

I'm working through the http://www.ros.org/wiki/navigation/Tu... tutorial. I have the code running so it is publishing odometry info. I have also done the URDF_tutorial so I have a model of my robot that I can see in Rviz. If I run both of these at the same time should I see the robot running around in circles in Rviz? Is it not that simple or does Rviz not work that way?

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answered 2011-07-27 03:21:52 -0600

If you are publishing the transformation between your robot and the odometry, yes. So if your robot has the base called /base_link, your odometry should publish from /odom to /base_link and of course broadcast this transformation in tf.

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THanks, I got it . The trick was to change the Fixed Frame to odom, then it started moving.
ringo42 gravatar imageringo42 ( 2011-07-27 03:28:45 -0600 )edit

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Asked: 2011-07-27 02:09:21 -0600

Seen: 1,900 times

Last updated: Jul 27 '11