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How to know the frame id

asked 2012-08-29 23:58:02 -0500

sai gravatar image

Ubuntu 12.04, fuerte and Rviz

I would like to visualize the data generated by the /odom topic by gps_common package and the data from the laser range finder.

So I would like to know how the frome ID can be found out in general?

Thanks, Sai

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There is no output after rostopic echo /odom...Any other way to find the frame ID?

sai gravatar imagesai ( 2012-08-30 00:17:00 -0500 )edit

if there's no output for echo /odom, you will not be able to visualize any data. I suggest you echo the /fix topic instead

weiin gravatar imageweiin ( 2012-08-30 15:02:59 -0500 )edit

When the /odom topic started to publish the data i.e. when it got the right data from GPS, then rostopic echo /odom gave the frame_id

sai gravatar imagesai ( 2012-09-02 17:19:07 -0500 )edit

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answered 2012-08-30 00:06:17 -0500

weiin gravatar image

updated 2012-08-30 15:08:57 -0500

rostopic echo /odom

EDIT: In general, the frame_id in the header of any topic (if it has a header) can be found by rostopic echo. For example, laser scans usually publish on /scan topic. So rostopic echo /scan will show you what is in frame_id. (You can use rostopic echo /scan |grep frame_id to show only that line with the id.

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answered 2012-08-30 00:41:19 -0500

Lorenz gravatar image

Frames are published on the tf topic. To see all frames and the nodes publishing frames, execute:

rosrun tf tf_monitor
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To view the connectiong between frames, you could use "rosrun tf view_frames" which generate a pdf file with connections graph.

Javier gravatar imageJavier ( 2012-08-30 02:34:30 -0500 )edit

My understanding of his question is that he's looking for the frame_id in the header of the topic /odom. The gps_common package http://www.ros.org/wiki/gps_common does not broadcast any tf, so will not show up on tf_monitor

weiin gravatar imageweiin ( 2012-08-30 14:59:00 -0500 )edit

You're right

Javier gravatar imageJavier ( 2012-08-30 23:48:15 -0500 )edit

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Asked: 2012-08-29 23:58:02 -0500

Seen: 10,511 times

Last updated: Aug 30 '12