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turtlebot not publishing tf

asked 2012-06-13 00:46:13 -0500

apalomer gravatar image

Hi all!

I've a problem with turtlebot....It is not publishing the transform between any part of the robot, actually any transform at all!!!

I've runed:

rosrun tf tf_monitor

and what i get is:

Frames:

All Broadcasters:

RESULTS: for all Frames

Frames:

Can somebody give me a hint on what to do??

Cheers!

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Please give more information, otherwise it's really hard to help. 1) On which computer are you running tf_monitor? That one on the turtlebot? 2) How is your turtlebot started up? What does rosnode list show?

Lorenz gravatar image Lorenz  ( 2012-06-13 02:17:51 -0500 )edit

could we get a rostopic list? Maybe a bag file of recorded odometry? Is this an actual turtlebot (silly question, but a lot of robots use turtlebot code to run although they aren't turtlebots)?

allenh1 gravatar image allenh1  ( 2012-06-13 08:57:27 -0500 )edit

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answered 2012-06-14 04:08:45 -0500

apalomer gravatar image

I've sovled it. I've chagned the name of the turtlebot-laptop in the workstation to turtlebot, the same the on on the robot has an now i get the tf in the workstation.

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answered 2012-06-14 03:32:34 -0500

apalomer gravatar image

I'm using old code (from october 2011) in which i've changed some functions. About the questions you made:

1- tf_monitor in the workstation which has the turtlebot-laptop as a roscore. But if i run tf_monitor in turtlebot-laptop I get the tf. That might be the problem...so if I run tf_monitor in the workstation I get what I said before, if I run it in the turtlebot-laptop:

RESULTS: for all Frames

Frames:
Frame: /base_footprint published by /robot_pose_ekf Average Delay: 0.0797196 Max Delay: 0.105396
Frame: /base_link published by /robot_state_publisher Average Delay: -0.487194 Max Delay: 0
Frame: /front_wheel_link published by /robot_state_publisher Average Delay: -0.487173 Max Delay: 0
Frame: /gyro_link published by /robot_state_publisher Average Delay: -0.487172 Max Delay: 0
Frame: /kinect_depth_frame published by /robot_state_publisher Average Delay: -0.48717 Max Delay: 0
Frame: /kinect_depth_optical_frame published by /robot_state_publisher Average Delay: -0.487169 Max Delay: 0
Frame: /kinect_link published by /robot_state_publisher Average Delay: -0.48719 Max Delay: 0
Frame: /kinect_rgb_frame published by /robot_state_publisher Average Delay: -0.487167 Max Delay: 0
Frame: /kinect_rgb_optical_frame published by /robot_state_publisher Average Delay: -0.487166 Max Delay: 0
Frame: /laser published by /robot_state_publisher Average Delay: -0.487164 Max Delay: 0
Frame: /left_cliff_sensor_link published by /robot_state_publisher Average Delay: -0.487188 Max Delay: 0
Frame: /left_wheel_link published by /robot_state_publisher Average Delay: -0.938744 Max Delay: 0
Frame: /leftfront_cliff_sensor_link published by /robot_state_publisher Average Delay: -0.487185 Max Delay: 0
Frame: /plate_0_link published by /robot_state_publisher Average Delay: -0.487163 Max Delay: 0
Frame: /plate_1_link published by /robot_state_publisher Average Delay: -0.487161 Max Delay: 0
Frame: /plate_2_link published by /robot_state_publisher Average Delay: -0.487159 Max Delay: 0
Frame: /plate_3_link published by /robot_state_publisher Average Delay: -0.487158 Max Delay: 0
Frame: /rear_wheel_link published by /robot_state_publisher Average Delay: -0.487156 Max Delay: 0
Frame: /right_cliff_sensor_link published by /robot_state_publisher Average Delay: -0.487181 Max Delay: 0
Frame: /right_wheel_link published by /robot_state_publisher Average Delay: -0.938737 Max Delay: 0
Frame: /rightfront_cliff_sensor_link published by /robot_state_publisher Average Delay: -0.487179 Max Delay: 0
Frame: /spacer_0_link published by /robot_state_publisher Average Delay: -0.487155 Max Delay: 0
Frame: /spacer_1_link published by /robot_state_publisher Average Delay: -0.487153 Max Delay: 0
Frame: /spacer_2_link published by /robot_state_publisher Average Delay: -0.487152 Max Delay: 0
Frame: /spacer_3_link published by /robot_state_publisher Average Delay: -0.48715 Max Delay: 0
Frame: /standoff_2in_0_link published by /robot_state_publisher Average Delay: -0.487149 Max Delay: 0
Frame: /standoff_2in_1_link published by /robot_state_publisher Average Delay: -0.487147 Max Delay: 0
Frame: /standoff_2in_2_link published by /robot_state_publisher Average Delay: -0.487145 Max Delay: 0
Frame: /standoff_2in_3_link published by /robot_state_publisher Average Delay: -0.487143 Max Delay: 0
Frame: /standoff_2in_4_link published by /robot_state_publisher Average Delay: -0.487142 Max Delay: 0
Frame: /standoff_2in_5_link published by /robot_state_publisher Average Delay: -0.48714 Max Delay: 0
Frame: /standoff_2in_6_link published by /robot_state_publisher Average Delay: -0.487137 Max Delay: 0
Frame: /standoff_2in_7_link published by /robot_state_publisher Average Delay: -0.487135 Max Delay: 0
Frame: /standoff_8in_0_link published by /robot_state_publisher Average Delay: -0.487133 Max Delay: 0
Frame: /standoff_8in_1_link published by /robot_state_publisher Average Delay: -0.487131 Max Delay: 0
Frame: /standoff_8in_2_link published by /robot_state_publisher ...
(more)
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Asked: 2012-06-13 00:46:13 -0500

Seen: 564 times

Last updated: Jun 14 '12