What does the odometry arrow in rviz indicate? [closed]

asked 2018-09-06 00:33:50 -0500

J. J. gravatar image


I just visualized my robot in rviz, and I when I add the odometry visualization. I can see that the arrow is pointed on my robot's left side. I noticed this is different when I try to simulate a turtlebot where the arrow points directly infront of the robot. How do I fix this? Thank you.

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Closed for the following reason the question is answered, right answer was accepted by J. J.
close date 2018-09-07 01:37:34.074102


Probably your robot is publishing odometry with wrong orientation. In relation to robot, X axis should point front, Y axis should point left and Z axis should point up. Check if your robot comply with this. More about axis orientations here

luk.mitka gravatar image luk.mitka  ( 2018-09-06 01:25:47 -0500 )edit

Thanks looking at the transform of my base link it does make sense why the odom arrow points to the direction of the x axis. Can I just simply change the rpy orientation in my urdf file? (visual/collision/inertial)?

J. J. gravatar image J. J.  ( 2018-09-06 01:34:50 -0500 )edit

Yes, this should work.

luk.mitka gravatar image luk.mitka  ( 2018-09-06 01:40:45 -0500 )edit

Reorienting my robot fixed the problem as well as other related problems such as slam simulation and odd navigation behaviors. Thanks!

J. J. gravatar image J. J.  ( 2018-09-07 01:37:17 -0500 )edit