delete frames link (odom --> base_footprint)

asked 2018-07-24 09:31:12 -0500

luca201824 gravatar image

Good afternoon, I'm a student and I'm new of ROS. I'm doing a thesis work on autonomous mapping of indoor environments using a TurtleBot3 with ROS Kinetic. I want to improve odometry data using the "robot_pose_ekf" ROS package, but I can't make the "base_footprint" frame takes data only from "odom_combined". Indeed the parents frames of "base_footprint" are now "odom_combined" and "odom". I have to cut the link between "base_footprint" and "odom". Can you suggest how I can do it? I want to stop the "base_footprint" frame reads data from "odom" frame/topic. I have already read many posts on forum but I haven't found a solution. Have a good day, Luca Bini.

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I'm not familiar with the TurtleBot3's packages, but have you tried the rqt_tf_tree tool? It's a nice visual tool that tells you what nodes are broadcasting specific links.

rosrun rqt_tf_tree rqt_tf_tree
mbarulic gravatar imagembarulic ( 2018-07-24 11:17:02 -0500 )edit

Is there a reason you are using robot_pose_ekf instead of robot_localization? Robot_localization is also an EKF for localization, and is more generic / better documented than robot_pose_ekf.

stevejp gravatar imagestevejp ( 2018-07-24 20:09:08 -0500 )edit