What does the Fixed Frame mean in rviz?
What does the Fixed Frame mean in rviz?
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What does the Fixed Frame mean in rviz?
It's the tf frame that all positions/measurements that you see are relative to. For example, let's say you have a robot that has two frames, odom (a world-fixed frame) and base_link (the body frame of the robot). The robot is at position (10, 0)
with a heading of pi/2
in the odom frame, and it has a LIDAR on board that sees an obstacle 5 meters directly in front of it. If you set your Fixed Frame to odom, that obstacle will appear at position (10, 5)
. If you set your Fixed Frame to base_link, it will appear at (5, 0)
.
EDIT: updating answer for comment from @malharjajoo
Thank you so much.
Does the Grid
always be the world coordinate? If I set /odom
as the fixed frame. Rviz will draw obstacle at potions (10, 5)
in the Grid
?
I think the heading in your assumption should be pi/2
.
@tom, I didn;t really follow your explanation, what does heading = pi/2 mean ( is the robot facing left by 90 degree compared to lidar) ?
also could you elaborate how the (10,0) and (10,5) works out ? can't seem to visualize that based on the explanation.
Asked: 2014-11-19 06:59:24 -0500
Seen: 6,958 times
Last updated: Feb 19 '18