Rviz update child frames

asked 2020-11-16 22:26:54 -0500

Veve gravatar image

Hi,

I have problem I am not able to google properly.

I am using RVIZ to visualize animation sequence of my robot (legged quadruped), I use "body" as name of the frame for robot and "world" frame for world.

When I set in rviz that fixed frame is "body", the animation works as it should.

When I set the fixed frame to "world", the frames/positions of legs of the robot are updated only when "world"->"body" translation is updated, which is _not_ what I want.

How to approach this?

Thanks, John

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Comments

1

that makes sense to me. There is only ever a link between "world" and "body" when you provide one, and IIRC RVIZ will stop using a tf if it's not updated frequently enough. You should either publish the tf between those two frames more often (if it's static, take a look at static_transform_publisher), or re-think how you're doing things.

christophebedard gravatar image christophebedard  ( 2020-11-18 07:49:06 -0500 )edit

Thanks, solved by sending the transform more often

Veve gravatar image Veve  ( 2020-11-25 00:44:01 -0500 )edit