Why Part of the robot is under the map in Rviz ?

asked 2018-07-04 16:55:43 -0500

Developer gravatar image

updated 2018-07-04 17:59:09 -0500


I have spawned the Jackal Robot in Rviz. But part of the wheels under the map ( My z value is 0). Did you faced before with a kind of problem ?


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Your map frame is probably defined at this height. can you provide the output of this cmd cd /var/tmp && rosrun tf view_frames && evince frames.pdf &. Wich launfile are you using?

GuillaumeB gravatar image GuillaumeB  ( 2018-07-04 18:24:45 -0500 )edit

My launch files are very basic. How can I change the height of the map ?

Developer gravatar image Developer  ( 2018-07-05 03:59:21 -0500 )edit

Display the TF in rviz and read http://wiki.ros.org/amcl#Transforms . The map (so the map fame) is probably at the same height that your base_link. I would suggest to change the position of the base link or, add another link (child of base_link) that is at the lowest height of your robot and ...

GuillaumeB gravatar image GuillaumeB  ( 2018-07-05 04:14:55 -0500 )edit

.. use this frame as your base_frame_id in amcl parameters.

GuillaumeB gravatar image GuillaumeB  ( 2018-07-05 04:15:27 -0500 )edit

I will try it. Thanks

Developer gravatar image Developer  ( 2018-07-05 05:34:25 -0500 )edit

Does it work ?

akshay bankar gravatar image akshay bankar  ( 2021-05-28 10:55:37 -0500 )edit

yes it will work

tom_3997 gravatar image tom_3997  ( 2023-04-06 06:33:59 -0500 )edit