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Frames and TFs are disappearing

asked 2014-08-23 04:19:44 -0500

RSA_kustar gravatar image

updated 2014-09-24 02:13:56 -0500

I have two robot models. The first robot is the vehicle (AR.Drone) and the second is the Phantom Omni Device. I use rviz for visualization. I have problem with the tree of the TFs. Now for the AR.Drone, the parent frame is the 'world' frame while the parent frame for the Phantom Omni is the base frame. Now there are two problems. The first one is that when the TFs are shown in Rviz, the world frame appear for 3 seconds and starts to disappear. The second problem, the base TF is not shown. I want both robots to be shown with their URDF files but RViz only allow us to choose one Fixed frame.. What should I do ?

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answered 2014-08-26 19:09:25 -0500

In RViz, go the the TF tree drop-down menu and increase the timeout time.

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This solves my first problem. It worked! Thanks but I really would like to know from where I should specify the time line in the code or the launch file ??

RSA_kustar gravatar image RSA_kustar  ( 2014-10-09 03:46:20 -0500 )edit

You can save your rviz config and load it from a launch file.

tonybaltovski gravatar image tonybaltovski  ( 2014-10-09 10:12:10 -0500 )edit

answered 2014-08-23 10:33:14 -0500

Murilo F. M. gravatar image

From your description, it appears you have two separate tf trees, one for the ar drone and other for the phantom.

Have you visualised the tree to see what is happening? You can do so by running (see this tutorial):

rosrun tf view_frames
evince frames.pdf

You will probably see that you have two separate trees, and there is no connection to traverse from one tree to another.

You could broadcast a static transform between world and base_frame to connect both trees. This page shows you how to do it.

I hope I'm not too far off your problem.

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I didnt try it yet but this solves the second problem.

RSA_kustar gravatar image RSA_kustar  ( 2014-10-09 03:46:18 -0500 )edit

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Asked: 2014-08-23 04:19:44 -0500

Seen: 973 times

Last updated: Sep 24 '14