rviz fault adding footprint

asked 2015-08-14 05:05:57 -0500

109 ●30 ●35 ●43

updated 2015-08-14 05:08:05 -0500

Hi everyone, I get a fault on RVIZ when I add the footprint_stamped of my robot within local_costmap. Here is what an echo send me:

header: 
  seq: 1229
  stamp: 
    secs: 1439546345
    nsecs: 610782267
  frame_id: odom
polygon: 
  points: 
    - 
      x: -0.310000002384
      y: -0.310000002384
      z: 0.0
    - 
      x: -0.310000002384
      y: 0.310000002384
      z: 0.0
    - 
      x: 0.310000002384
      y: 0.310000002384
      z: 0.0
    - 
      x: 0.310000002384
      y: -0.310000002384
      z: 0.0

Does the navigation stack require a base_footprint frame ?

Here is my tf tree actually: image description

answered 2015-08-14 05:59:45 -0500

cyborg-x1

1376 ●21 ●32 ●44 https://github.com/Hacks4ROS

updated 2015-08-14 06:04:40 -0500

Probably you should insert base_link instead of base_footprint into the Fixed Frame of RViz (in Global Options) There is no base_footprint in your TF so if it is set (which is by default) then you get an error.

You get an error for anything which has no connection to your fixed frame btw.

Also you could do a static publisher for it from base_link to base_footprint. On standard base_link is the main element of your robot and then you do a base_link to the floor. (For a diff drive robot it should be on the floor below the center of the wheel axis)

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Thanks for your answer. Does it explain the fact that the nav stack doesnt work for now ? I give a goal and it try to turn on place forever.

TomSon ( 2015-08-17 01:27:45 -0500 )edit

Ehm no, it just explains how to probably get rid of the RViz error. But maybe the static transform publisher could help there as well, if your nav stack requires it (or is setup for using it instead of base_link)

cyborg-x1 ( 2015-08-17 04:41:04 -0500 )edit

I mean the static transform publisher for creating the base_footprint on your own.

cyborg-x1 ( 2015-08-17 04:41:58 -0500 )edit

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