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creating a /map frame of a fixed base robot.

asked 2017-01-09 17:33:12 -0600

bender gravatar image


I am working with a fixd base, 2 arm robot (pi4 with ur10 arms) and I noticed that there is no odom and map frame in the tf data. I further would need to create a transform between map and base_link (for which I am using fake localization). But first, i need a map frame. Since the base is fixed it does not have a, odom frame. How to I create a /map frame on a fixed base robot? the ROS nav tutorial suggests examples of a movable base robot.

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answered 2017-01-09 21:43:50 -0600

ahendrix gravatar image

The /map frame is typically used to localize a robot with respect to a map; since your robot is stationary it seems like you could just use a static transform publisher, or even include the transform from /map to /base_link in your URDF.

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answered 2017-01-17 14:05:08 -0600

bender gravatar image

I want to leave a comment here about what I did. Since the robot was stationary, it was not eventualy important to localize it at all. I had a base_link frame and a world frame. I was left with two options, either to create a map frame and transform it with no translation or rotation. (identity rotation matrix and zero translation matrix) Or just rename the world frame to map frame. (this worked for me).

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Asked: 2017-01-09 17:33:12 -0600

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Last updated: Jan 17 '17