What does the odometry arrow in rviz indicate? [closed]
Hi,
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.
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
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)?
Yes, this should work.
Reorienting my robot fixed the problem as well as other related problems such as slam simulation and odd navigation behaviors. Thanks!