map frame is not in the same direction as base_link frame
hi,
I have noticed that with turning on the robot,and after launching SLAM, i can see that map frame is not in the same direction with base_link frame (X Y Z). HOW can I change the map frame to be align with base_link at the initial state?!? totally should they be in the same orientation??? I have launched rtabmap slam, and I don not know maybe the problem is about this slam!!!
you know what makes me confuse, is REP 103 and also the information that i mentioned here https://github.com/cartographer-proje... about the initial orientation of the map frame. in terms of REP 103, and considering my case, the orientation of the base-link is In relation to the body and it shows x forward y left z up and the map frame follows the ENU convention: X east Y north Z up
SO why the map frame should be in the same orientation of base_link frame?
base_link
base_link and map frame, that as you can see, map frame has a 90 degree rotation from base_link
odm and map frame
base-link and imu_link
base_link, map and odom frame
Thanks
according to the right hand rule, map frame should also be in the same direction (x forward, y left, z up) as base_link frame. I am using RTABMAP as map provider and using robot-localization pkg in order to publish the map frame. Now how can i make the map frame to show the same x y z as base_link frame?
Hi @Masoum, there may be issues at the
urdf
level when describing the relationships. Please take a look at this discussion, not with RTABMAP but with Cartographer: https://github.com/cartographer-proje.... To be able to help you, more details are required. Can you explain what have you tried so far?hi @osilva I have attached the frames in my question, just a i have take a number of pictures to be able to specify each of them. the urdf is ok for my case.
is there any answer?
Can you show the
urdf
relationship ofbase link
andimu_link
and the other links plsRviz is just a visualization tool so if you are seeing issues most likely is the orientation used
base_link and imu-link are considered relative to chassis link @osilva
<link name="base_link"></link>
..................................................................
Is there any solution?