Transformation from world frame to odom(robots) frame.

rosstage

asked 2014-11-04 06:17:23 -0500

ruthvik
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Hey i am new to ROS and Stage. I am simulating a robot to move from one point to other autonomously. The problem is i dont know how to transform from world frame (i.e as soon as you open ROS you get X-Y frame) and odom frame(i.e the frame of robot) So here stage world has one origin and robot(odom) has another origin there is a translation and rotation between them. How can i transform a point from stage world frame to robots odom frame?

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Just a note on frame ID: both map and odom are typically world frames, and base_link refers to the body frame of the robot.

http://www.ros.org/reps/rep-0105.html

Tom Moore ( 2014-11-04 10:12:35 -0500 )edit

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answered 2014-11-04 06:29:11 -0500

dornhege

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I highly recommend going through the TF tutorials.

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hey i have gone through them but when i run the command rosrun tf view_frames i get the result as below odom-->base_footprint--->base_link---->base_laser_link i dnt want any f these trnsfrmtns. I want a trnsfrmtn frm stage world points 2 odom(robots) frames. shud i creat new frame 4 stage world?

ruthvik ( 2014-11-04 06:40:12 -0500 )edit

If you want actual stage poses for debugging, stage ros publishes base_pose_ground_truth. You can produce a small program that sends this. Alternatively if you configure odometry without noise it should be the same as ground truth.

dornhege ( 2014-11-04 09:33:35 -0500 )edit

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answered 2014-11-04 09:12:54 -0500

Sebastian Kasperski

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To have a transformation from world to odom you need to run a localizer (e.g. http://wiki.ros.org/amcl ), which will provide the missing transformation.

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Transformation from world frame to odom(robots) frame.

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Transformation from world frame to odom(robots) frame.