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robot_localization not generating odom to robot's sensor_frame transform

asked 2017-07-14 20:50:28 -0500

lffox gravatar image

Hello all,

I'm trying to fuse an IMU and a DVL (measures linear velocity on x, y, z). I have the following axis configurations.

  • base_link : robot's frame
  • base_imu : imu's frame
  • base_dvl : DVL's frame

I have a transform broadcaster which broadcasts base_imu->base_link and base_dvl->base_link. The picture attached shows the frame poses. I have set the fixed frame as base_link here (rviz). image description

This is the TF tree:

image description

But when I run robot_localization, the localization is perfect but it doesn't show my sensor frames. There are also some warnings generated in rviz (check left pane), saying there isn't any transform to odom frame. But there is a transform as per the tf_tree. Here is a picture: image description

How do I fix this issue?

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The timestamp on the different transforms look ways too off for me.They should happen nearly at the same time. Do you run ros across different computers? If so check the current date and time both.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-07-16 12:46:02 -0500 )edit

Hi, Thanks for your reply. The timings don't matter to me much since they are just static transforms. But can that be cause for this issue?

lffox gravatar image lffox  ( 2017-07-18 13:00:02 -0500 )edit

The ROS nodes do not know that the transforms do not change. When they are outdated they are ignored.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-07-22 02:30:49 -0500 )edit

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answered 2017-09-28 05:32:10 -0500

Tom Moore gravatar image

You are using a static transform publisher, but you appear to be using the static transform publisher from tf, and not tf2_ros. Is that correct? The time stamps are going to matter in this case, and it appears that they are almost 5 days apart. I'd switch to the static transform publisher in tf2_ros.

If you already are, I'd give some more details about your setup, including posting the launch files. Is all of this running on the same machine?

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Asked: 2017-07-14 20:50:28 -0500

Seen: 336 times

Last updated: Sep 28 '17