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start map_server with custom frame_id

asked 2014-11-30 09:24:42 -0600

jjoller gravatar image

updated 2014-11-30 09:51:34 -0600

I currently use

rosrun map_server map_server testenvironment.yaml

to run the map server. It uses "map" as frame_id. I want it to set "odometry_link" as frame id. The documentation says something about a parameter ~frame_id, but it does not say how to use it. Can anyone give an example of how to start the map_server with a custom frame id?

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answered 2014-12-03 14:43:10 -0600

bvbdort gravatar image

updated 2014-12-18 15:15:18 -0600

you can pass frame_id param from command line

rosrun map_server map_server testenvironment.yaml _frame_id:="odometry_link"

thanks to


passing param in .launch file

<node name="map_server" pkg="map_server" type="map_server" args="testenvironment.yaml">
<param name="frame_id" value="odometry_link" />
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Thanks that helped a lot, I would have never guessed that. How to do the same thing using a map file?

<node pkg="map_server" type="map_server" name="the_map" args="$(arg map_name) _frame_id:=" odometry_link"=""/>


jjoller gravatar image jjoller  ( 2014-12-18 14:11:39 -0600 )edit

i think you mean launch in launch file, i had updated the answer.

bvbdort gravatar image bvbdort  ( 2014-12-18 15:15:55 -0600 )edit

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Asked: 2014-11-30 09:24:42 -0600

Seen: 2,258 times

Last updated: Dec 18 '14