robot_localization odom wrong frame
I'm having an issue with robot_localization when my sensor frames are offset from the base_link frame.
I have robot with a realsense T265 odometry sensor, but when I run a robot_localization UKF, it places the robot frame at the odometry message instead of the sensor frame.
TF tree:
odom base_link -> base_link/t265
Topic:
name: /base_link/t265/odom
type: Odometry
frame_id: odom
child_frame_id: base_link/t265
UKF Config:
map_frame: map
odom_frame: odom
base_link_frame: base_link
world_frame: odom
odom0: /base_link/t265/odom
Below I have the Odometry topic and the TF tree after the UKF is run.
Issue: Since the odom's child_frame_id
is base_link/t265
, the odom topic should identify the location of that frame, not the base_link
frame, right? I’m expecting the UKF to compute the odom->base_link
tf such that the t265 frame will be placed at its odom message, but instead it places base_link there directly.
Please attach your screenshot to the question. I've given you sufficient karma.
Thank you. Updated the question with the screenshot.
What's your issue exactly? Its unclear to me.
Updated the last sentence. Hopefully that clarifies it. This sounds like a standard use case that I’ve seen lots of discussion about, but no end to end examples.