Where does turtlebot3_core define odom and base_footprint names?

asked 2018-08-01 12:25:19 -0500

AmateurHour
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updated 2018-08-01 13:59:15 -0500

Hello! I am attempting to run slam gmapping for 2 robots. I am having a problem where the transform trees are conjoining instead of there being 2 separate trees. I have already included namespaces and tf_prefixes in all of the launch files. odom and base_footprint are both generated after launching turtlebot3_core, and I cannot for the life of me find where these names are defined. Where can I change the names of these generated tf nodes? Or is there another way I can manage this? a closeup of the issues in view_frames

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answered 2018-08-01 19:18:00 -0500

Darby Lim
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Hi :)

TurtleBot3 was updated last month. For now it provides simple way for loading multiple robot. You can find the way how to figure it out.

https://discourse.ros.org/t/announcin...

http://emanual.robotis.com/docs/en/pl...

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@Darby Lim instead of only providing links to the resources, can you please update your question with a copy and paste of some minimal example? If and when these links disappear (which happens often) then your answer will lose its value and won't be self-contained.

jayess ( 2018-08-01 19:56:46 -0500 )edit

Wow, further reading has shown that this update takes care of exactly the problem I am having! Thank you so much for the help!

AmateurHour ( 2018-08-01 22:02:24 -0500 )edit

@jayess Sorry, I will add some examples next answers :)

Darby Lim ( 2018-08-01 23:36:54 -0500 )edit

@Darby Lim No problem, thanks!

jayess ( 2018-08-01 23:42:38 -0500 )edit

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answered 2019-07-08 01:29:15 -0500

JadenLin
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Hi AmateurHour,

I was looking for that too, finally I found it is defined in "OpenCR" instead of "Raspberry pi", so you can't find them in the node: "turtlebot3_core" launched by "turtlebot3_core.launch".

If you want to see the code, it is here, if you want to edit anything or change topics, you need to install Arduino by following this, then you will see the code in examples.

But your real issue is trying to launch two robots for SLAM, maybe you can try this.

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Where does turtlebot3_core define odom and base_footprint names?

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