Missing tfs from turtlebot2 in gazebo
Hi,
When I run the turtlebot_world.launch
file in turtlebot_gazebo
, there are many missing transformations compared to when I run minimal.launch
on a real turtlebot. This is the result I get from rosrun tf view_frames
:
I have not been able to figure out why these are the only transforms available. When I run minimal.launch
on a real robot, there are many more, such as transforms for cameradepth and camerargb, cliff sensors, etc. Are the transforms shown above the only transforms expected when running turtlebot_world.launch
?
When I look at the /robot_description
param after running turtle_world.launch
, it looks to be the same value as when I run minimal.launch
. It's very long, but here is the first part:
"<?xml version=\"1.0\" ?>\n<!-- ===================================================================================\
\ -->\n<!-- | This document was autogenerated by xacro from /opt/ros/kinetic/share/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro.urdf.xacro\
\ | -->\n<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED \
\ | -->\n<!-- ===================================================================================\
\ -->\n<!--\n - Base : kobuki\n - Stacks : hexagons\n - 3d Sensor\
\ : kinect\n-->\n<robot name=\"turtlebot\" xmlns:xacro=\"http://ros.org/wiki/xacro\"\
On the real robot's laptop, I am using Hydro. On my desktop that is running the gazebo simulator, I am using Kinetic.
Please let me know if this is the behavior and/or how to get the rest of the Turtlebot2 transforms. Thanks for any help.
Asked by sterlingm on 2017-05-05 11:51:40 UTC
Comments
I was not able to figure this out, but here is a link to a small node to publish the missing tfs for the Turtlebot2 camera: https://github.com/sterlingm/ramp/blob/integrate_sensing_circles/ramp_sensing/src/main_pub_tf_missing_turtlebot_gazebo.cpp
Asked by sterlingm on 2017-05-09 10:44:54 UTC