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Fixing TF between base_link and odom

asked 2018-02-07 04:04:35 -0500

updated 2018-02-07 04:09:53 -0500

Hey , i am in the process of porting my robot from simulation to real world .

  1. Finished URDF (robot_description) , which publishes the tf
  2. Finished with the most essential stack such as robot_nav , robot_viz , robot_movebase

My Real Robot can now listen to cmd_vel and will responds correctly to it . I have written a script which accepts cmd_vel and publishes odom .

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As you can see above the tf between odom and base_link is not yet published , what could be the reason for the same ?

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"header: seq: 40 stamp: secs: 1517994494 nsecs: 929254055 frame_id: odom child_frame_id: base_link ...."

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As you can see the child_frame_id of the odom topic is base_link .

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answered 2018-02-07 05:55:14 -0500

mgruhler gravatar image

It is not sufficient, to publish this as an odometry Topic. You Need to use a tf broadcaster to send the actual transformation via the tf tree.

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Comments The python script which publishes odom is listed here , please check it out . I believe i am using the tf_broadcaster ,let me know if i missed anything.

chris_sunny gravatar image chris_sunny  ( 2018-02-07 06:11:50 -0500 )edit

Looks okay on a first glance. Do you see this transform in the tf message?

mgruhler gravatar image mgruhler  ( 2018-02-07 07:44:59 -0500 )edit

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Asked: 2018-02-07 04:04:35 -0500

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Last updated: Feb 07 '18