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Problems with static tf publisher

asked 2014-09-02 07:22:07 -0600

sumanth gravatar image

updated 2014-09-02 08:05:10 -0600

I am using my own URDF file for my custom built robot, the robot is properly visible and moves properly in rviz, If I run the simulation with /odom publisher.

But when open the camera nodlet with openni_launch and publish a static tf, then the laser scanner in the simulation starts to rotate randomly, I don't have idea why this is happening.

I publish the static tf in launch file which contains:

<launch>
        <node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0.1 0 0.455 0 0 0 base_link camera_link 100"/>
</launch>

Below are my rqt_graph

image description

Please find the below frames.pdf

image description

and the slam_gmapping node gives the following warnings

[ INFO] [1409662993.035030893]: Laser is mounted upwards.
 -maxUrange 9.99 -maxUrange 9.99 -sigma     0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05
 -srr 0.1 -srt 0.2 -str 0.1 -stt 0.2
 -linearUpdate 1 -angularUpdate 0.5 -resampleThreshold 0.5
 -xmin -100 -xmax 100 -ymin -100 -ymax 100 -delta 0.05 -particles 30
[ INFO] [1409662993.055169092]: Initialization complete
update frame 0
update ld=0 ad=0
Laser Pose= 0.257682 -1.50465 1.55431e-15
m_count 0
Registering First Scan
update frame 6
update ld=0.0282843 ad=1.5708
Laser Pose= 0.237682 -1.48465 -1.5708
m_count 1
Scan Matching Failed, using odometry. Likelihood=-0.0229554
lp:0.257682 -1.50465 1.55431e-15
op:0.237682 -1.48465 -1.5708
Scan Matching Failed, using odometry. Likelihood=-4266.67
lp:0.257682 -1.50465 1.55431e-15
op:0.237682 -1.48465 -1.5708
Scan Matching Failed, using odometry. Likelihood=-4266.67
lp:0.257682 -1.50465 1.55431e-15
op:0.237682 -1.48465 -1.5708
Scan Matching Failed, using odometry. Likelihood=-4266.67
lp:0.257682 -1.50465 1.55431e-15
op:0.237682 -1.48465 -1.5708
Scan Matching Failed, using odometry. Likelihood=-4266.67
lp:0.257682 -1.50465 1.55431e-15
op:0.237682 -1.48465 -1.5708
Scan Matching Failed, using odometry. Likelihood=-4266.67
lp:0.257682 -1.50465 1.55431e-15
op:0.237682 -1.48465 -1.5708
Scan Matching Failed, using odometry. Likelihood=-4266.67
lp:0.257682 -1.50465 1.55431e-15
op:0.237682 -1.48465 -1.5708
Scan Matching Failed, using odometry. Likelihood=-4266.67
lp:0.257682 -1.50465 1.55431e-15
op:0.237682 -1.48465 -1.5708
Scan Matching Failed, using odometry. Likelihood=-4160.76
lp:0.257682 -1.50465 1.55431e-15
op:0.237682 -1.48465 -1.5708
Scan Matching Failed, using odometry. Likelihood=-4266.67
lp:0.257682 -1.50465 1.55431e-15
op:0.237682 -1.48465 -1.5708
Scan Matching Failed, using odometry. Likelihood=-4266.67
lp:0.257682 -1.50465 1.55431e-15
op:0.237682 -1.48465 -1.5708
Scan Matching Failed, using odometry. Likelihood=-4266.67
lp:0.257682 -1.50465 1.55431e-15
op:0.237682 -1.48465 -1.5708
Scan Matching Failed, using odometry. Likelihood=-4266.67
lp:0.257682 -1.50465 1.55431e-15
op:0.237682 -1 ...
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answered 2014-09-03 10:51:13 -0600

Rabe gravatar image

updated 2014-09-03 10:52:26 -0600

Hey,

Just a quick idea:

Your static publisher is trying to publish a transform between base_link and camera_link while in your frames.pdf, they are already connected via base_link => scan_support => camera_link which is published by robot_state_publisher. I can't see your static publisher in the tree (I think it would show up as "Broadcaster")

My guess: Your static publisher and the robot-publisher are publishing different transforms for the same "connection", which is why Rviz is switching constantly between the values from both publishers.

Hope that helps,

Rabe

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Comments

Perfect, the robot_state_publisher and static_publisher both are publishing the transform between base_link and camera_link. I have conformed this even by running the roswtf.

Solved the problem.

sumanth gravatar imagesumanth ( 2014-09-04 00:44:50 -0600 )edit

Many thanks

sumanth gravatar imagesumanth ( 2014-09-04 00:44:57 -0600 )edit

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Asked: 2014-09-02 07:22:07 -0600

Seen: 1,414 times

Last updated: Sep 03 '14