No transform to fixed frame [odom]

asked 2018-04-13 03:18:11 -0600

Fedor gravatar image

I have launched Gazebo with URDF model of wheeled robot. Robot and joint state publishers have launched too. The odometry topic is published by gazebo with header.frame_id = odom, child_frame_id = base_link. But RViz shows that there is no transform to fixed frame [odom]. Here is tf tree from frames.gv:

"map" -> "odom"
"base_footprint" -> "base_link"
"base_link" -> "camera_link"
"base_link" -> "hokuyo_link"
"base_link" -> "wheel_1"
"base_link" -> "wheel_2"
"base_link" -> "wheel_3"
"base_link" -> "wheel_4"

What should I do to fix it?

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I don't see a transform from odom to base_footprint in your list. What node should provide the odometry info in your setup?

Humpelstilzchen gravatar imageHumpelstilzchen ( 2018-04-15 09:08:32 -0600 )edit

/odom node is published by /gazebo with header.frame_id = odom, child_frame_id = base_link. How can I change child_frame_id value to base_footprint, and why this node doesn't provide transformation from base_link to odom node?

Fedor gravatar imageFedor ( 2018-04-16 01:53:38 -0600 )edit

Can you add your configuration files?

Humpelstilzchen gravatar imageHumpelstilzchen ( 2018-04-16 04:29:49 -0600 )edit
Fedor gravatar imageFedor ( 2018-04-16 07:25:47 -0600 )edit

I don't see a odom publisher in your launch file. You need a node for that, see the navigation tutorials. Alternatively you could maybe try diff_drive_controller

Humpelstilzchen gravatar imageHumpelstilzchen ( 2018-04-16 09:03:48 -0600 )edit

Thank you, I will write a node. But I don't understand why does /odom node is published by Gazebo? There is no odom publisher in my launch file, but this topic is in rostopic list. screenshot

Fedor gravatar imageFedor ( 2018-04-16 09:33:38 -0600 )edit

Good question, no idea. But the /odom-topic is independent from the tf tree

Humpelstilzchen gravatar imageHumpelstilzchen ( 2018-04-16 10:23:12 -0600 )edit