# Revision history [back]

### 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!

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

this is my transform tree: 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!

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

this is my transform tree: 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!

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

this is my transform tree:

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):

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

### 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!

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

this is my transform tree:

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):

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

these are my plugins:

<gazebo reference="hokuyo">
<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>
<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>