problems adding urdf frames to odom->base_link
I'm trying to use the slam_gmapping with my mobile robot but I'm having some troubles with the TF.
Firstly I created the robot driver so that it could broadcast the odom->baselink->baselaser (stamped) trasform and everything worked fine.
Problems came when I decided to add static frames to the TF tree. I'd like to use the URDF of my robot through the robotstatepublisher package and let the driver only broadcast the odom->baselink transform putting the definition of the baselaser on the URDF. Even if with view_frames all the frames are correctly linked, the TF tree seems broken. In fact on rviz I can't use odom as fixed frame because there's no trasform between odom and the other frames defined on the URDF.
Reading other questions, I understood that it's probably a synchronization problem but I did'n find any solution to this...so, please, help me! :)
Asked by massimo.c on 2014-07-29 15:22:57 UTC
Comments
Can you post your TF tree? Are all these nodes running on the same machine?
Asked by Tom Moore on 2014-08-04 14:10:44 UTC