connect tf tree of multiple turtlebots 2

asked 2015-09-02 12:16:39 -0500

Vinh K
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Is there anyway to connect actual turtlebots 2 Tf tree as one. I am having trouble with connecting the turtlebots tf tree compare to stage robots

answered 2015-09-29 06:21:57 -0500

Caba
113 ●4 ●6 ●8

I don't know if you have already tried to do that, but I had a similar problem and I've just added a fixed transform in the launch file between the world frames of the two robots.

<node pkg="tf" type="static_transform_publisher" name="world_frames_connection" args="0 0 0 0 0 0 /turtlebot1/world /turtlebot2/world 100"/>

Then I obtained a single tree with two branches, one per robot.

Hope this helps

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Thanks. Is this for real turtlebots? As I am trying to do it on actual turtlebots and not the stage simulator.

Vinh K ( 2015-10-06 14:56:16 -0500 )edit

I am sorry, I am just working in simulation right now and moreover with a different kind of robots, but the problem was the same. I guess it should work also with the real ones.

Caba ( 2015-10-15 04:02:48 -0500 )edit

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