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robot's urdf and robot pose ekf

asked 2013-02-05 10:52:40 -0500

SHPOWER
302 ●27 ●35 ●37

Hi all,

I have a problem. I wrote an urdf file for my robot tried it on RVIZ an it worked well. now I want to combine it with robot_pose_ekf package after I wrote an appropriate launch file I have got a problem because my main transform is the first link of the robot and not the odom_combined transform. when I am trying to change that there is a mess in connections between the links and odom_combined transforms, or even there is no connection at all.

what could be the problem?

please help...

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answered 2013-02-06 06:37:07 -0500

Akin
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I think the problem comes from the fact that robot_pose_ekf creates a transform between your main transform and /odom_combined. But since your main transform has already a parent (as far as I understand) and transforms cannot have multiple parents, it creates a mess.

It would surely help to see the tf tree to find out the problem.

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Asked: 2013-02-05 10:52:40 -0500

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Last updated: Feb 06 '13

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robot's urdf and robot pose ekf