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What is the problem with my odom fixed frame

Hi everybody, As I was exploring some tutorials in the internet, I encountered an issue that is: Why my odom fixed frame act strangely when I load it with Rviz and how can I fix it ... I understand that odom frame is supposed to be like a wrapper that wraps all robots main components and through it we can exchange messages with the robot ... but that is not what I get when I launch my Rviz!

image description link text

however, only when I select chassis frame, things seem to work as they supposed to be! except that the center of the robot as a whole, is the center of the 3D chassis model

image description link text

this is my transform tree: image description link text

Can anybody help me with this issue?

What is the problem with my odom fixed frame

Hi everybody, As I was exploring some tutorials in the internet, I encountered an issue that is: Why my odom fixed frame act strangely when I load it with Rviz and how can I fix it ... I understand that odom frame is supposed to be like a wrapper that wraps all robots main components and through it we can exchange messages with the robot ... but that is not what I get when I launch my Rviz!

image description link textimage description

however, only when I select chassis frame, things seem to work as they supposed to be! except that the center of the robot as a whole, is the center of the 3D chassis model

image description link textimage description

this is my transform tree: image description link textimage description

Can anybody help me with this issue?

What is the problem with my odom fixed frame

Hi everybody, As I was exploring some tutorials in the internet, I encountered an issue that is: Why my odom fixed frame act strangely when I load it with Rviz and how can I fix it ... I understand that odom frame is supposed to be like a wrapper that wraps all robots main components and through it we can exchange messages with the robot ... but that is not what I get when I launch my Rviz!

image description

however, only when I select chassis frame, things seem to work as they supposed to be! except that the center of the robot as a whole, is the center of the 3D chassis model

image description

this is my transform tree: image description

Can anybody help me with this issue?

Here are more pictures (see how when the fixed frame is odom, I won't be able to read my laser sensor .. the reading only shows if it was chassis, or hokuyo): image description image description

This is my tf, which illustrats how everythigs are attached to the chassis which attached to odom ...

image description

What is the problem with my odom fixed frame

Hi everybody, As I was exploring some tutorials in the internet, I encountered an issue that is: Why my odom fixed frame act strangely when I load it with Rviz and how can I fix it ... I understand that odom frame is supposed to be like a wrapper that wraps all robots main components and through it we can exchange messages with the robot ... but that is not what I get when I launch my Rviz!

image description

however, only when I select chassis frame, things seem to work as they supposed to be! except that the center of the robot as a whole, is the center of the 3D chassis model

image description

this is my transform tree: image description

Can anybody help me with this issue?

Here are more pictures (see how when the fixed frame is odom, I won't be able to read my laser sensor .. the reading only shows if it was chassis, or hokuyo): image description image description

This is my tf, which illustrats how everythigs are attached to the chassis which attached to odom ...

image description

these are my plugins:

<gazebo reference="hokuyo">
  <sensor type="gpu_ray" name="head_hokuyo_sensor">
    <pose>0 0 0 0 0 0</pose>
    <visualize>false</visualize>
    <update_rate>40</update_rate>
    <ray>
      <scan>
        <horizontal>
          <samples>720</samples>
          <resolution>1</resolution>
          <min_angle>-2.35619</min_angle>
          <max_angle>2.35619</max_angle>
        </horizontal>
      </scan>
      <range>
        <min>0.10</min>
        <max>30.0</max>
        <resolution>0.01</resolution>
      </range>
      <noise>
        <type>gaussian</type>
        <mean>0.0</mean>
        <stddev>0.01</stddev>
      </noise>
    </ray>
    <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_gpu_laser.so">
      <topicName>/laser/scan</topicName>
      <frameName>hokuyo</frameName>
    </plugin>
  </sensor>
</gazebo>

 <gazebo>
  <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
    <legacyMode>false</legacyMode>
    <alwaysOn>true</alwaysOn>
    <updateRate>10</updateRate>
    <leftJoint>LRear_wheel_hinge</leftJoint>
    <rightJoint>RRear_wheel_hinge</rightJoint>
    <wheelSeparation>0.4</wheelSeparation>
    <wheelDiameter>0.2</wheelDiameter>
    <torque>10</torque>
    <commandTopic>cmd_vel</commandTopic>
    <odometryTopic>odom</odometryTopic>
    <odometryFrame>odom</odometryFrame>
    <robotBaseFrame>chassis</robotBaseFrame>
  </plugin>
</gazebo>