imu frame_id doesn't match base_link

asked 2017-05-04 03:55:12 -0600

DaDaLee gravatar image

updated 2017-05-04 05:02:44 -0600

The frame_id of imu data in my bagfile is imu_link, not base_link. After rosrun the node, I didn't get odometry/filtered data flow. I assume there's problem with frame_id mismatching .So I add

<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 3.14 0 0 base_link imu_link 100" />

into ekf_customized.launch(mostly copied from ekf_template.launch) to realize static transform but it's not working. Shall I add code about transforming into the package ?

I do appreciate it if someone can give me some tips. Thank you so much!

edit retag flag offensive close merge delete


use the preformatted text buttons to make your code readable. Also, some more hints about what you are trying to achieve and what the actual problem is might help.

What can be seen here is that you are publishing the static tranform from base_link to base_link which should not work at all....

mgruhler gravatar image mgruhler  ( 2017-05-04 04:37:43 -0600 )edit

Thank you. I try to achieve static transform between imu_link which is the frame_id of my imu data and base_link. But I don't know how

DaDaLee gravatar image DaDaLee  ( 2017-05-04 05:04:24 -0600 )edit

replace second base_link with imu_link?

mgruhler gravatar image mgruhler  ( 2017-05-04 05:24:41 -0600 )edit

Yeap, because I need to transform imu_link to base_link. The data to be fused into the format is required to be in base_link frame.

DaDaLee gravatar image DaDaLee  ( 2017-05-04 07:36:30 -0600 )edit