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base_link not moving while replaying rosbag file in RViz

asked 2022-08-10 11:02:40 -0500

hunterlineage1 gravatar image

I recorded a rosbag file with the following topics: /ssl_slam/trajectory; /tf; /odom; /initialpose; /move_base_simple/goal; /tf_static;

My goal is to replay the rosbag file in RViz and see the "map" axes, "base_link" axes, and green trajectory path drawn. Currently I am able to see only the map link axes and green trajectory path; the base_link axes do not move when I select them to be shown under "TF >> Frames". The base_link axes slowly fade away and leave only map axes and the green trajectory. How do I visualize the base_link axes so that they show how the robot actually moved while recording the rosbag file (want to see rotation and translation of the base_link axes).

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answered 2022-08-13 07:55:52 -0500

Mike Scheutzow gravatar image

The base_link TF messages are time-stamped, so you need to make your setup repeat those prior timestamps when visualizing the data.

  • You tell rosbag to publish to the /clock topic by specifying the --clock option.
  • You also need to tell rviz to use the /clock topic. You do this by making sure the ros parameter /use_sim_time is set to true before the rviz node is started.
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Thank you so much!!! It worked perfectly. Really appreciate it

hunterlineage1 gravatar image hunterlineage1  ( 2022-08-16 16:13:56 -0500 )edit

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Asked: 2022-08-10 11:02:40 -0500

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Last updated: Aug 13 '22