lwheel and rwheel frame to link up to URDF
So, this seem to be the final thing I am stuck on, please help
My wheels in my URDF is lwheel and rwheel
When I list topics, the wheels are listed
/rwheel
/rwheel_vel
/rwheel_vtarget
When I do rosrun tf view_frames
Exception thrown:"odom" passed to lookupTransform argument source_frame does not exist.
The current list of frames is:
Frame laser exists with parent base_frame.
Frame base_frame exists with parent map.
Frame scanmatcher_frame exists with parent
What the hell do I need to map these so the URDF maps to the publisher? I think its something to do with a TF?
If you have a URDF describing the geometry of your robot (e.g. the transform between
base_linkandlwheel) then you likely need to be running an instance of the robot_state_publisher which publishes the /tf data between the links in a URDFFirst thank you for answer, you rock. My base_link is actually base_frame (seems Hector Mapping uses that) however everything is linked (base_frame, lwheel, rwheel, laser etc) Laser and Base_frame come up fine in RVIZ. lwheel, rwheel do not? ]
Do lwheel and rwheel have non-fixed joints? For example continuous rotation joints about the axle axis? If so, something needs to publish a sensor_msgs/JointState message, typically on the
/joints_statestopic, containing these anglesYou may be interested in using the joint_state_publisher to help get these values published.
I was following the URDF tutorial and so the wheels are just connected to the Base_frame http://wiki.ros.org/differential_driv...
Tonight I will try the code again with <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>