Static object in Gazebo moves in RViz with respect to the world frame
Hi community!
There is a pillar in my gazebo simulation world and a cart driving around, as shown below:
When the Rviz starts, the pillar is at the same location as in the gazebo world, with respect to the odom frame:
However, when the cart is moving, the pillar's location is strangely changing:
Why is it the case? And how could I fix it? Sorry I just joined the community and I could only post link with images. Thank you so much for your consideration and help!
Appreciatively, William
PS: The tf trees is attached:
Can you set your fixed frame to base_link or your robot base frame and see if the pillar still moves while teleoperating your robot.
Hi Davies, thanks for your reply! I tried and it doesn't work, the pillar wrt odom is still moving as the cart moves, moreover, if I set the fixed frame to base_link the grid is moving with the cart now. What I would like to achieve is the grid of the world frame is fixed with odom, while the pillar is static as it's in the gazebo simulation.
If you set your fixed frame to odom , it tracks the pose of the robot ..tell you where the robot is when visualising with rviz .what is your tf tree like ?
Hi Davies, the tree is shown on the left of the updated picture in the original question.