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How to move mobile robot in rviz

asked 2017-10-27 13:26:24 -0500

tonyParker gravatar image

updated 2017-10-29 04:46:56 -0500

Hello,

I am sorry for being naive. I have GPS sensor information from a moving car. I have URDF model of a robot with four wheels. All joints are fixed (wheel to base_link). I want to move the robot in rviz according to GPS data. I am able to broadcast tf trasnform following this :Link

I have gone through these tutorials but all using joint_state_publisher. Any help would be appreciated.

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Maybe this will help.

l4ncelot gravatar imagel4ncelot ( 2017-10-28 02:53:47 -0500 )edit

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answered 2017-11-04 03:31:29 -0500

tonyParker gravatar image

I found the answer.

In this case, no moving joint is needed. We just need tf trasnform from base_link to fixed frame (odom). Just broadcast tf transform and set the header frame id to base_link.

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Asked: 2017-10-27 13:26:24 -0500

Seen: 436 times

Last updated: Nov 04 '17