turtlebot gmapping with electric.

asked 2011-11-20 20:45:31 -0600

apalomer
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Hi, I upgraded to electric and the gmapping is not workind. I think that the problem is that the base_footprint is not conected to the odometry. I can see it in the RVIZ if I cheeck the TF, in Frames, /base_footprint doesn't have a parent. Where can I find the code for this TF and change it?

Thanks.

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Can you describe the phenomenon more?

130s ( 2011-11-21 09:27:45 -0600 )edit

Well, it's juts that the transform from the robot to the odometry is not there, and I want to add this part, but I don't know where the transform code is.

apalomer ( 2011-11-21 20:52:19 -0600 )edit

can you please provide more information what version of the turtlebot software are you running? and can you run rosrun tf view_frames . this will create a pdf of your tf tree, can you please attach the pdf to this page so I can look at it.

mmwise ( 2011-11-26 10:29:49 -0600 )edit

I haven't changed anything but the position of the kinect on the turtlebot and now it works.... I really don't understand!

apalomer ( 2011-11-27 21:14:48 -0600 )edit

I've had the same issue. However, I compiled the Electric source. As I was doing the teleop around the room, I was getting error messages that kept saying that base_footprint wasn't getting mapped to the odom.

osuairt ( 2011-12-06 17:28:12 -0600 )edit

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answered 2011-12-23 06:57:23 -0600

Nick Armstrong-Crews
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You need to run robot_pose_ekf to get the /odom frame in your tf tree. From what I can tell, in diamondback it was run whenever the robot was "brought up" ... but in electric, this seems to have been changed.

Example launch file:

<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
  <param name="freq" value="10.0"/>
  <param name="sensor_timeout" value="1.0"/>
  <param name="publish_tf" value="true"/>
  <param name="odom_used" value="true"/>
  <param name="imu_used" value="true"/>
  <param name="vo_used" value="false"/>
  <param name="output_frame" value="odom"/>
  <remap from="imu_data" to="imu/data"/>
</node>

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oops, forgot <launch> </launch> enclosing tags

Nick Armstrong-Crews ( 2011-12-23 06:57:59 -0600 )edit

In more recent releases, the ekf filter is launched with the robot minimal.launch so that odometry is always available.

fergs ( 2011-12-24 01:00:38 -0600 )edit

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answered 2011-11-21 02:02:44 -0600

apalomer
318 ●51 ●54 ●66

Hi again, I've cheeked the interactive markers and they don't work either. The problem that I get is that there's no connection between the base_footprint and the odom, the same problem as in the gmapping. How can I solve it?

Thanks

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Hey, I had the same issue. I downloaded the source, the interactive markers were then working.

osuairt ( 2011-12-06 17:26:56 -0600 )edit

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turtlebot gmapping with electric.

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