how to display rviz markers at a fixed location
Hi,
I need to display markers (currently few arrows, showing path for robot) at a fixed point wrt my simulated environment. The environment has turtlebot and few objects.
While publishing markers if I set marker.header.frame_id = "/odom", then I get the desired result as long as robot does not collide or I don't reset the environment.
Before publishing the markers if I call service /gazebo/get_model_state and get the robot state, and use that to apply inverse transformation to the markers, and use /base_link in marker.header.frame_id, then I get what I need.
But I am sure there must be a simpler way to do this. What should be my frame in marker.header.frame_id
or
how can I use TF to do this easily. As of now I am using only 2D inverse transformation, so when robot collides then for some time the markers are displayed at different location.
I am using electric on Ubuntu 11.10
