Sotp publishing tf /odom from Gazebo

asked 2011-11-03 23:59:28 -0500

92 ●10 ●12 ●17

Hi,

I've asked a related question when I needed to put gmapping, laser_scan_matcher and stageros working together. The problem was that but stageros and laser_scan_matcher publish the odom->base_footprint. I solved the problem by going to the stageros.cpp and stop the publish of the transform.

But know I want to make a more evolved simulation including IMU and Cameras and wanted to try Gazebo, but the same problem occurs and I cannot find where modified Gazebo to stop publishing.

Has anyone had the same problem???

Thanks in advance

P.S. I think will look in the Pr2 simulation perhaps there they have a similiar problem

edit retag flag offensive close merge delete

add a comment

0

answered 2012-03-27 09:48:59 -0500

tfoote

58457 ●128 ●550 ●526 http://www.ros.org/

The quickest way to do this is to remap the topic to an unused one.

edit flag offensive delete link

add a comment

0

answered 2012-03-27 10:00:09 -0500

hsu
5735 ●31 ●62 ●89

updated 2012-03-27 10:01:45 -0500

Tully's way is quicker, but if you are curious where the transform comes from, I believe the pr2 odometry mechanism controller is responsible for publishing the base_footprint-odom transform. You can also edit pr2 controller configuration for gazebo and disable the base_odometry controller from loading in pr2_default_controllers.launch.

similarly for pr2, just do the same for pr2 controller configuration.

edit flag offensive delete link

add a comment

Sotp publishing tf /odom from Gazebo

2 Answers

Question Tools

Stats

Related questions

Sotp publishing tf /odom from Gazebo edit

2 Answers

Question Tools

Stats

Related questions

Sotp publishing tf /odom from Gazebo