tf tree problem with map->odom->base_link [closed]

edit

Hi,

I have a problem with providing the following relationship "map->odom->base_link" in my tf tree. My question is what changes are necessary to fix this problem. In the below sections I will show what I have done.

I have added the following plugins to the .gazebo file.

<!-- GPS plugin -->
<plugin name="robot_gps_sim" filename="libhector_gazebo_ros_gps.so">
  <alwaysOn>true</alwaysOn>
  <updateRate>4.0</updateRate>
  <bodyName>base_link</bodyName>
  <topicName>gps</topicName>
  <velocityTopicName>gps_velocity</velocityTopicName>
  <drift>5.0 5.0 5.0</drift>
  <gaussianNoise>0.1 0.1 0.1</gaussianNoise>
  <velocityDrift>0 0 0</velocityDrift>
  <velocityGaussianNoise>0.1 0.1 0.1</velocityGaussianNoise>
</plugin>

<!-- Groundtruth plugin -->
<plugin name="robot_groundtruth_sim" filename="libgazebo_ros_p3d.so">
  <alwaysOn>true</alwaysOn>
  <updateRate>100.0</updateRate>
  <bodyName>base_link</bodyName>
  <topicName>groundtruth</topicName>
  <gaussianNoise>0.0</gaussianNoise>
  <frameName>map</frameName>
  <xyzOffsets>0 0 0</xyzOffsets>
  <rpyOffsets>0 0 0</rpyOffsets>
</plugin>

<!-- IMU plugin -->
<plugin name="robot_imu_sim" filename="libhector_gazebo_ros_imu.so">
    <alwaysOn>true</alwaysOn>
    <updateRate>100.0</updateRate> 
    <bodyName>base_link</bodyName>
    <frameID>robot_link1</frameID>
    <topicName>/robot/IMU</topicName>
    <xyzOffset>0.0 0.0 0.0</xyzOffset>
    <rpyOffset>0.0 0.0 0.0</rpyOffset>
    <gaussianNoise>0</gaussianNoise>
    <accelDrift>0.5 0.5 0.5</accelDrift>
    <accelGaussianNoise>0.35 0.35 0.3</accelGaussianNoise>
    <rateDrift>0.0 0.0 0.0</rateDrift>
    <rateGaussianNoise>0.00 0.00 0.00</rateGaussianNoise>
    <headingDrift>0.0</headingDrift>
    <headingGaussianNoise>0.00</headingGaussianNoise>
</plugin>

Here is the tf tree:

I ran the gmapping node. So because of this node, there is a connection between odom and map links. But there is no connection between odom and base_link.

I also tried to add a node to make the connection between these two links, but when I do rosrun tf view_frames nothing changes.

Edit: I realized that the transform from odom to base_link is computed and broadcast by one of the odometry sources. So, I modified the following node. Now, when I do "rotopic echo odom", the information is getting updated correctly, but there is still no link between odom and base_link. Actually, I tried to do something similar to this link. If I run it , the link between base_link and odom is provided, but I don't know what is wrong with my code that doesn't make the connection between link.

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>

class OdomTf{

public:
    OdomTf();
    void getInfo(const nav_msgs::Odometry::ConstPtr& msg);
    ros::Time current_time;
    void publishOdom();
    nav_msgs::Odometry odom;

private:  
    ros::NodeHandle nh_;
    ros::Subscriber data_sub_;
    ros::Publisher data_pub_;
};

OdomTf::OdomTf(){
    data_sub_ = nh_.subscribe("groundtruth", 1, &OdomTf::getInfo, this);
    data_pub_ = nh_.advertise<nav_msgs::Odometry>("odom", 10);
}
void OdomTf::getInfo(const nav_msgs::Odometry::ConstPtr& msg)
{   
    tf::TransformBroadcaster odom_broadcaster;

    geometry_msgs::TransformStamped odom_trans;

    current_time = ros::Time::now();

    odom_trans.header.stamp = current_time;
    odom_trans.header.frame_id = "odom";
    odom_trans.child_frame_id = "base_link";
    odom_trans.transform.translation.x = msg->pose.pose.position.x;
    odom_trans.transform.translation.y = msg->pose.pose.position.y;
    odom_trans.transform.translation.z = msg->pose.pose.position.z;

    odom_trans.transform.rotation.x = msg->pose.pose.orientation.x;
    odom_trans.transform.rotation ...