# Unable to see trajectory of AR Drone

Hey everyone,

I'm trying to perform dead reckoning using an AR Drone. Namely, initialize the drone's location on a floorplan, then as I move the drone around in my hands, I want the drone's trajectory to be updated on Rviz.

So far I have odometry data being published to /ardrone/odometry as nav_msgs/Odometry type. When I attempt to visualize this on Rviz, however, I only get the direction the drone is facing. I would also like the moving trajectory of the drone, but I don't know how to display this onto Rviz.

Also note that I'm not flying the drone, simply moving it around in my hands. Could this be a reason why I can't see the trajectory?

EDIT : Here's how my Rviz looks like : http://imgur.com/a/9BJg6

As you can see it just tells me where the drone is pointing and does not update the movement even if I move across the room.

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Part of the problem is that there's no transform from the map frame to the odom frame. How can you plot the trajectory if you don't have a way to localize yourself within the map?

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Here are a few things you can try that may lead to a solution:

1. Check if the odometry is calculated properly. For example, by plotting out /ardrone/odometry/pose/pose/position/x:y:z with rqt_plot
2. Check the frame of reference the odometry topic is published in, and the fixed frame in rviz. If the fixed frame is coincident with the drone's centre, then you'll get what you're seeing in rviz currently.
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