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iRobot Create_autonomy frame change

asked 2019-07-29 11:40:15 -0500

Usui gravatar image

Okay so I want to change the frame_id of odom to odom1 and frame_id of base_frame_id to be base_footprint1. So I went into the config of ca_driver 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!

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answered 2019-08-02 18:27:27 -0500

Usui gravatar image

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.

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Asked: 2019-07-29 11:40:15 -0500

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Last updated: Aug 02 '19