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Hi, I loaded a mobile base with differential drive in gazebo and I am able to control it in teleop mode. I tried to connect visualization to rviz. The robot is loaded fine in rviz . Wheels are rotating , but robot is not moving. Can any explain the reason?
The rviz Global Options | Fixed Frame is set to base_link or the equivalent for your robot? If you set it to map and then don't see the robot properly then there needs to be something that publishes a transform between map and base_link.
You can 'cheat' and get the position from /gazebo/model_states and then publish it as a transform. The more realistic thing to do is implement odometry and have that publish the transform from there, though it will deviate from gazebo absolute position after a while (just as it would in real life).
There is a package called gazebo2rviz. May be helpful to you.
Given tele-operatable somehow on Gazebo, I assume your robot is equipped with a contoroller. Since RViz wants joint_state topic to update the robot's external status, you might want to implement JointStateController-equivalent on your controller's end. If you use ros_control, this thread elaborates well.
Asked: 2014-12-09 05:27:27 -0500
Seen: 452 times
Last updated: Dec 10 '14
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