Tf transform base_footprint base_link not working

asked 2018-07-02 09:22:38 -0500

kuka_kuka gravatar image

updated 2018-07-02 09:34:08 -0500


I am working with a Kuka robot. When I launch youbot drivers everything works right and I can control platform movement with a remote joystick. But, when I execute:

rosrun tf tf_echo base_link base_footprint

Seems like tf transformation from base_footprint to base_link is not working as parameters do not change when platform moves (they remain 0.000 0.000 0.000 1.000). The package used for publishing robot state is "robot_state_publisher". Tf tree is like follows:

odom -> base_footprint -> base_link -> ...

Tf transformations between odom and base_footprint are working well. So, I tried to run a static transform publisher executing:

rosrun tf static_transform_publisher 0 0 -0.5 0 0 0 base_footprint base_link 100

But it does not work. Although, if I add the Tf in Rviz, it can be seen base_link axis constantly moving (blinking) from its original position to a position -0.5 below. So, I do not know what is happening. Maybe the problem is that there are two publications of tf at the same time. In that case, I would like to know how could I delete or modify one.

edit retag flag offensive close merge delete



The transformation from base_footprint to base_link is not supposed to changed. It should be static so everything is working correctly. You are correct: when you started the static_transform_publisher the two publications were interfering with each other.

timkambic gravatar image timkambic  ( 2018-07-02 15:47:07 -0500 )edit

Oh, okey then. Thank you!

kuka_kuka gravatar image kuka_kuka  ( 2018-07-03 06:31:32 -0500 )edit