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How to stop gazebo publishing tf

asked 2016-03-21 04:29:25 -0500

updated 2016-03-21 04:30:16 -0500

Hi, all!

Now I'm testing the node /robot_pose_ekf with gazebo simulator. And I have already let /gazebo publish IMU and odometry data to /robot_pose_ekf. Also, /robot_pose_ekf is connected to tf.

However, when I checked the tf tree I found that the transform from odom -> base_footprint was provided by /gazebo but I want it to be /robot_pose_ekf.

I guess it is because both /gazebo and /robot_pose_ekf are publishing /tf. Hence, I think stopping /gazebo publishing /tf can be a possible solution. FYI, I'm using GMapping which subscribes to /tf to provide SLAM functions.

Can anyone tell me how to stop gazebo publishing tf? Or any other solutions to my problem?

Thank you in advance!

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An alternative approach is to keep the odom->base_footprint as it is and compensate the odometry drift by adjusting the transform world->odom or map->odom then you just consider the transform world->base_footprint as robot pose. AFAIK this is what happens when you perform localization using i.e AMCL

Mehdi. gravatar imageMehdi. ( 2016-03-21 04:42:24 -0500 )edit

Thanks to your advice, Mehdi. But actually I have a laser scanner used to provide map -> odom. And my goal is to let robot_pose_ekf provide odom -> base_footprint instead of /gazebo itself. The reason why I stick to this is because I have to check if robot_pose_ekf can be used with GMapping.

Clack gravatar imageClack ( 2016-03-21 05:26:13 -0500 )edit

3 Answers

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answered 2016-03-21 06:22:41 -0500

DavidN gravatar image

Use remapping method to map from tf to something like gazebo_tf, just add the remapping tags: <remap from="tf" to="gazebo_tf"/> in the launch file of the empty world.

For example:

<node name="gazebo" pkg="gazebo_ros" type="gzserver" respawn="false" output="screen" args="-e ode worlds/empty.world" > <remap from="tf" to="gazebo_tf"/> </node>

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Thanks a lot! I'll have a try tomorrow as soon as I get back to my lab :)

Clack gravatar imageClack ( 2016-03-21 09:15:30 -0500 )edit

It works! Thank you so much!

Clack gravatar imageClack ( 2016-03-22 02:26:13 -0500 )edit
1

answered 2018-08-21 00:54:45 -0500

Subodh Malgonde gravatar image

If your are using a differential drive controller plugin for your robot then you can prevent Gazebo from publishing the odom transfrom by setting publishOdomTF to false

<gazebo>
    <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
        ...
        <publishOdomTF>false</publishOdomTF>
        ...
    </plugin>
</gazebo>
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answered 2016-03-22 02:30:23 -0500

updated 2016-03-22 02:31:31 -0500

Thanks to DavidN, my problem is solved :)

Now the node /robot_pose_ekf is providing the transform odom -> base_footprint instead of /gazebo.

FYI, my modification to /opt/ros/indigo/share/gazebo_ros/launch/empty_world.launch is a little bit different than what DavidN has mentioned:

<!-- start gazebo server-->
  <node name="gazebo" pkg="gazebo_ros" type="gzserver" respawn="false" output="screen" 
    args="$(arg command_arg1) $(arg command_arg2) $(arg command_arg3) $(arg world_name)">    
  <remap from="tf" to="gazebo_tf"/> 
</node>
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Asked: 2016-03-21 04:29:25 -0500

Seen: 2,094 times

Last updated: Aug 21 '18