iRobot Create_autonomy frame change
Okay so I want to change the frameid of odom to odom1 and frameid of baseframeid to be basefootprint1. So I went into the config of cadriver and change it. Then, when I went to rviz, it keeps giving me errors of
[ERROR] [1564418118.699473306]: Ignoring transform for child_frame_id "base_footprint1" from authority "unknown_publisher" because of an invalid quaternion in the transform (0.000000 0.000000 0.000000 0.000000)
what else do I need to change for it to work? And should I change the urdf files too? Thanks!
Asked by Usui on 2019-07-29 11:40:15 UTC
Answers
I solved the problem! Apparently the real error was I didn't turn my imu on and my robot driver's orientation comes from the imu so the orientation was NaN. I got the frame right.
Asked by Usui on 2019-08-02 18:27:27 UTC
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