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Odom and map frame reparenting issue with robot_localization

asked 2020-04-08 08:36:18 -0500

Athanasakart gravatar image

updated 2022-01-22 16:10:28 -0500

Evgeny gravatar image

I am trying to develop the odometry for a driverless vehicle and I am using the robot_localization package. The odometry itself seems to be working, though when i run it in the simulator there is a reparenting error ERROR TF re-parenting contention: * reparenting of [base_link] to [odom] by [/ekf_se_odom] * reparenting of [base_link] to [map] by [/gazebo] When i check the frames run at that moment odometry frame exists but it is not connected to a frame around it. This also creates a problem and the model of the car seems to be flickering, like it jumps.

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answered 2020-04-15 15:40:33 -0500

Phgo gravatar image

Looks quiet similar to this question. You probably have at least two different nodes publishing a tf transforms to the same parent frame.

In order to work properly, each transform can only have a single parent and needs to be connected to the other (related) transforms in a tree like manner (e.g. [map]->[odom]->[base_link])

If i understand you correctly you are using a single instance of robot_localization that fuses only local information (e.g. odometry, IMU) with respect to the [odom] frame. According to your description your gazebo plugin publishing an additional [map]->[base_link] transform. You might want to disable this tf publisher or use a separate frame name for the ground truth reference.

If you need further assistance please provide more detailed information of what you are tying to achieve and the relevant parts of your robot_localization configuration.

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I actually tried that and it worked. Just for reference I used two robot_localization nodes and a navsat transform node to fuse both odometry IMU and GPS data. Thank you for your response

Athanasakart gravatar image Athanasakart  ( 2020-04-15 18:03:37 -0500 )edit

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Asked: 2020-04-08 08:36:18 -0500

Seen: 321 times

Last updated: Apr 15 '20