Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

iRobot Create_autonomy frame change

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

Usui
21 ●20 ●27 ●29

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!

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

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

Usui
21 ●20 ●27 ●29

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.

edit flag offensive delete link

add a comment

Question Tools

1 follower

Stats

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

Seen: 132 times

Last updated: Aug 02 '19

iRobot Create_autonomy frame change edit

1 Answer

Question Tools

Stats

Related questions

iRobot Create_autonomy frame change