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robot_state_publisher tf fail.

map -> odom odom -> base_link tf를 전달하는데 성공한다.

그러나, base_footprint에서 base_link로 전달 실패한다.

예를들어, 내가 tf tree를 확인했을 때 Broadcaster: /robot_state_publisher Average rate : 10000.0 Buffer lenth : 0.0 Most recent transform : 0.0 Oldest transform : 0.0

왜 데이터를 못받는 것인지 궁금하다.

--- URDF File --- <robot name="robot">

<link name="base_footprint"/>

<joint name="base_joint" type="fixed"> <parent link="base_footprint"/> <child link="base_link"/> <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/> </joint>

<link name="base_link"> <visual> <geometry> <box size="0.5 .26 .04"/> </geometry> <origin rpy="0 0 0" xyz="0 0 0.075"/> <material name="body"> <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/> </material> </visual>

</link>

<link name="wheel_left1">
    <parent link="base_link"/>
    <visual>
        <geometry>
            <cylinder length="0.04" radius="0.065"/>
        </geometry>
        <origin rpy="1.57 0 0" xyz="0.20 0.14 0.065"/>
        <material name="wheel">
            <color rgba="0.0 0.0 0.0 1.0"/>
        </material>
    </visual>
    </link>

<link name="wheel_right1">
    <visual>
        <geometry>
            <cylinder length="0.04" radius="0.065"/>
        </geometry>
        <origin rpy="1.57 0 0" xyz="0.20 -0.14 0.065"/>
        <material name="wheel">
            <color rgba="0.0 0.0 0.0 1.0"/>
        </material>
    </visual>
</link>

<link name="wheel_left2">
    <parent link="base_link"/>
    <visual>
        <geometry>
            <cylinder length="0.04" radius="0.065"/>
        </geometry>
        <origin rpy="1.57 0 0" xyz="-0.20 0.14 0.065"/>
        <material name="wheel">
            <color rgba="0.0 0.0 0.0 1.0"/>
        </material>
    </visual>
    </link>

<link name="wheel_right2">
    <visual>
        <geometry>
            <cylinder length="0.04" radius="0.065"/>
        </geometry>
        <origin rpy="1.57 0 0" xyz="-0.20 -0.14 0.065"/>
        <material name="wheel">
            <color rgba="0.0 0.0 0.0 1.0"/>
        </material>
    </visual>
</link>

<link name="base_scan">
    <visual>
        <geometry>
            <cylinder length="0.08" radius="0.05"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0.20 0 0.10"/>
        <material name="laser">
            <color rgba="0.0 0.0 0.0 1.0"/>
        </material>
    </visual>

<sensor name="base_scan" update_rate="20">
    <parent link="base_link"/>
    <origin xyz="0.2 0 0.5165" rpy="0 0 0"/>
    <ray>
     <horizontal samples="100" resolution="1" min_angle="-1.5708" max_angle="1.5708"/>
     <vertical samples="1" resolution="1" min_angle="0" max_angle="0"/>
    </ray>
</sensor>

</link>


<joint name="joint1" type="fixed">
    <parent link="base_link"/>
    <child link="wheel_left1"/>
    <origin xyz="0 0 0"/>
</joint>

<joint name="joint2" type="fixed">
    <parent link="base_link"/>
    <child link="wheel_right1"/>
    <origin  xyz="0 0 0"/>
</joint>

<joint name="joint3" type="fixed">
    <parent link="base_link"/>
    <child link="wheel_left2"/>
    <origin xyz="0 0 0"/>
</joint>

<joint name="joint4" type="fixed">
    <parent link="base_link"/>
    <child link="wheel_right2"/>
    <origin  xyz="0 0 0"/>
</joint>

<joint name="joint5" type="fixed">
    <parent link="base_link"/>
    <child link="base_scan"/>
</joint>

</robot>

rviz 관련 파일

<launch> <arg name="model" default="$(find dynamixel_workbench_operators)/urdf/robot.urdf"/> <arg name="gui" default="False"/> <node pkg="dynamixel_workbench_operators" type="wheel_test" name="wheel_test"/> <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/> <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"> </node> <node name="rviz" pkg="rviz" type="rviz"/> </launch>

I need your help. Thank you.

click to hide/show revision 2
None

robot_state_publisher tf fail.

map -> odom odom -> base_link tf를 전달하는데 성공한다.

그러나, base_footprint에서 base_link로 전달 실패한다.

예를들어, 내가 tf tree를 확인했을 때 Broadcaster: /robot_state_publisher Average rate : 10000.0 Buffer lenth : 0.0 Most recent transform : 0.0 Oldest transform : 0.0

왜 데이터를 못받는 것인지 궁금하다.

--- URDF File --- ---

<?xml version="2.0" ?>
<robot name="robot">

name="robot"> <link name="base_footprint"/>

name="base_footprint"/> <joint name="base_joint" type="fixed"> <parent link="base_footprint"/> <child link="base_link"/> <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/> </joint>

</joint> <link name="base_link"> <visual> <geometry> <box size="0.5 .26 .04"/> </geometry> <origin rpy="0 0 0" xyz="0 0 0.075"/> <material name="body"> <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/> </material> </visual>

</visual>

    </link>

 <link name="wheel_left1">
     <parent link="base_link"/>
     <visual>
         <geometry>
             <cylinder length="0.04" radius="0.065"/>
         </geometry>
         <origin rpy="1.57 0 0" xyz="0.20 0.14 0.065"/>
         <material name="wheel">
             <color rgba="0.0 0.0 0.0 1.0"/>
         </material>
     </visual>
     </link>

 <link name="wheel_right1">
     <visual>
         <geometry>
             <cylinder length="0.04" radius="0.065"/>
         </geometry>
         <origin rpy="1.57 0 0" xyz="0.20 -0.14 0.065"/>
         <material name="wheel">
             <color rgba="0.0 0.0 0.0 1.0"/>
         </material>
     </visual>
 </link>

 <link name="wheel_left2">
     <parent link="base_link"/>
     <visual>
         <geometry>
             <cylinder length="0.04" radius="0.065"/>
         </geometry>
         <origin rpy="1.57 0 0" xyz="-0.20 0.14 0.065"/>
         <material name="wheel">
             <color rgba="0.0 0.0 0.0 1.0"/>
         </material>
     </visual>
     </link>

 <link name="wheel_right2">
     <visual>
         <geometry>
             <cylinder length="0.04" radius="0.065"/>
         </geometry>
         <origin rpy="1.57 0 0" xyz="-0.20 -0.14 0.065"/>
         <material name="wheel">
             <color rgba="0.0 0.0 0.0 1.0"/>
         </material>
     </visual>
 </link>

 <link name="base_scan">
     <visual>
         <geometry>
             <cylinder length="0.08" radius="0.05"/>
         </geometry>
         <origin rpy="0 0 0" xyz="0.20 0 0.10"/>
         <material name="laser">
             <color rgba="0.0 0.0 0.0 1.0"/>
         </material>
     </visual>

 <sensor name="base_scan" update_rate="20">
     <parent link="base_link"/>
     <origin xyz="0.2 0 0.5165" rpy="0 0 0"/>
     <ray>
      <horizontal samples="100" resolution="1" min_angle="-1.5708" max_angle="1.5708"/>
      <vertical samples="1" resolution="1" min_angle="0" max_angle="0"/>
     </ray>
 </sensor>

 </link>


 <joint name="joint1" type="fixed">
     <parent link="base_link"/>
     <child link="wheel_left1"/>
     <origin xyz="0 0 0"/>
 </joint>

 <joint name="joint2" type="fixed">
     <parent link="base_link"/>
     <child link="wheel_right1"/>
     <origin  xyz="0 0 0"/>
 </joint>

 <joint name="joint3" type="fixed">
     <parent link="base_link"/>
     <child link="wheel_left2"/>
     <origin xyz="0 0 0"/>
 </joint>

 <joint name="joint4" type="fixed">
     <parent link="base_link"/>
     <child link="wheel_right2"/>
     <origin  xyz="0 0 0"/>
 </joint>

 <joint name="joint5" type="fixed">
     <parent link="base_link"/>
     <child link="base_scan"/>
 </joint>
</robot>

</robot>

rviz 관련 파일

<launch>
    <arg name="model" default="$(find dynamixel_workbench_operators)/urdf/robot.urdf"/>
dynamixel_workbench_operators)/urdf/robot.urdf" />
    <arg name="gui" default="False"/>
      default="False" />
    <param name="robot_description" textfile="$(arg model)" />
    <param name="use_gui" value="$(arg gui)" />
    <node pkg="dynamixel_workbench_operators" type="wheel_test" name="wheel_test"/>
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
             <param name="publish_frequency" type="double" value="50.0" />
    </node>
    <node name="rviz" pkg="rviz" type="rviz"/>
</launch>

type="rviz" /> </launch>

I need your help. Thank you.

robot_state_publisher tf fail.

map -> odom odom odom -> base_link tf를 전달하는데 성공한다.

그러나, base_footprint에서 base_link로 전달 실패한다.

예를들어, 내가 succeeds in passing tf.

However, it fails to pass from base_footprint to base_link.

For example, when I check the tf tree를 확인했을 때 tree: Broadcaster: /robot_state_publisher / robot_state_publisher Average rate : 10000.0 rate: 10000.0 Buffer lenth : 0.0 lenth: 0.0 Most recent transform : 0.0 transform: 0.0 Oldest transform : transform: 0.0

왜 데이터를 못받는 것인지 궁금하다. I wonder why I can not receive the data.

--- URDF File ---

<?xml version="2.0" ?>
--- <robot name="robot">

  name="robot">

<link name="base_footprint"/> <joint name="base_joint" type="fixed"> name="base_footprint"/>

<parent link="base_footprint"/> link="base_footprint"/> <child link="base_link"/> link="base_link"/> <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/> </joint> 0"/> <parent name="base_joint" joint="">

<link name="base_link"> <visual> <geometry> name="base_link"> <visual> <geometry> <box size="0.5 .26 .04"/> </geometry> .04"/> <origin rpy="0 0 0" xyz="0 0 0.075"/> <material name="body"> 0.075" material="" name="body"> <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/> </material> </visual> 1.0"/>

</link>

 <link name="wheel_left1">
     <parent link="base_link"/>
     <visual>
         <geometry>
             <cylinder length="0.04" radius="0.065"/>
         </geometry>
         <origin rpy="1.57 0 0" xyz="0.20 0.14 0.065"/>
         <material name="wheel">
             <color rgba="0.0 0.0 0.0 1.0"/>
         </material>
     </visual>
     </link>

 <link name="wheel_right1">
     <visual>
         <geometry>
             <cylinder length="0.04" radius="0.065"/>
         </geometry>
         <origin rpy="1.57 0 0" xyz="0.20 -0.14 0.065"/>
         <material name="wheel">
             <color rgba="0.0 0.0 0.0 1.0"/>
         </material>
     </visual>
 </link>

 <link name="wheel_left2">
     <parent link="base_link"/>
     <visual>
         <geometry>
             <cylinder length="0.04" radius="0.065"/>
         </geometry>
         <origin rpy="1.57 0 0" xyz="-0.20 0.14 0.065"/>
         <material name="wheel">
             <color rgba="0.0 0.0 0.0 1.0"/>
         </material>
     </visual>
     </link>

 <link name="wheel_right2">
     <visual>
         <geometry>
             <cylinder length="0.04" radius="0.065"/>
         </geometry>
         <origin rpy="1.57 0 0" xyz="-0.20 -0.14 0.065"/>
         <material name="wheel">
             <color rgba="0.0 0.0 0.0 1.0"/>
         </material>
     </visual>
 </link>

 <link name="base_scan">
     <visual>
         <geometry>
             <cylinder length="0.08" radius="0.05"/>
         </geometry>
         <origin rpy="0 0 0" xyz="0.20 0 0.10"/>
         <material name="laser">
             <color rgba="0.0 0.0 0.0 1.0"/>
         </material>
     </visual>

 <sensor name="base_scan" update_rate="20">
     <parent link="base_link"/>
     <origin xyz="0.2 0 0.5165" rpy="0 0 0"/>
     <ray>
      <horizontal samples="100" resolution="1" min_angle="-1.5708" max_angle="1.5708"/>
      <vertical samples="1" resolution="1" min_angle="0" max_angle="0"/>
     </ray>
 </sensor>

 </link>


 <joint name="joint1" type="fixed">
     <parent link="base_link"/>
     <child link="wheel_left1"/>
     <origin xyz="0 0 0"/>
 </joint>

 <joint name="joint2" type="fixed">
     <parent link="base_link"/>
     <child link="wheel_right1"/>
     <origin  xyz="0 0 0"/>
 </joint>

 <joint name="joint3" type="fixed">
     <parent link="base_link"/>
     <child link="wheel_left2"/>
     <origin xyz="0 0 0"/>
 </joint>

 <joint name="joint4" type="fixed">
     <parent link="base_link"/>
     <child link="wheel_right2"/>
     <origin  xyz="0 0 0"/>
 </joint>

 <joint name="joint5" type="fixed">
     <parent link="base_link"/>
     <child link="base_scan"/>
 </joint>
</robot>

</robot>

rviz 관련 파일

elated files

<launch> <arg name="model" default="$(find dynamixel_workbench_operators)/urdf/robot.urdf" /> dynamixel_workbench_operators)/urdf/robot.urdf"/> <arg name="gui" default="False" /> <param name="robot_description" textfile="$(arg model)" /> <param name="use_gui" value="$(arg gui)" /> default="False"/> <node pkg="dynamixel_workbench_operators" type="wheel_test" name="wheel_test"/> <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/> <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"> <param name="publish_frequency" type="double" value="50.0" /> </node> <node name="rviz" pkg="rviz" type="rviz" /> </launch>

type="rviz"/> </launch>

I need your help. Thank you.

click to hide/show revision 4
None

robot_state_publisher tf fail.

map -> odom odom -> base_link succeeds in passing tf.

However, it fails to pass from base_footprint to base_link.

For example, when I check the tf tree: Broadcaster: / robot_state_publisher Average rate: 10000.0 Buffer lenth: 0.0 Most recent transform: 0.0 Oldest transform: 0.0

I wonder why I can not receive the data.

--- URDF File --- <robot name="robot">

<link name="base_footprint"/>

<parent link="base_footprint"/> <child link="base_link"/> <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/> <parent name="base_joint" joint="">

<link name="base_link"> <visual> <geometry> <box size="0.5 .26 .04"/> <origin rpy="0 0 0" xyz="0 0 0.075" material="" name="body"> <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>

</link>

<link name="wheel_left1">
    <parent link="base_link"/>
    <visual>
        <geometry>
            <cylinder length="0.04" radius="0.065"/>
        </geometry>
        <origin rpy="1.57 0 0" xyz="0.20 0.14 0.065"/>
        <material name="wheel">
            <color rgba="0.0 0.0 0.0 1.0"/>
        </material>
    </visual>
    </link>

<link name="wheel_right1">
    <visual>
        <geometry>
            <cylinder length="0.04" radius="0.065"/>
        </geometry>
        <origin rpy="1.57 0 0" xyz="0.20 -0.14 0.065"/>
        <material name="wheel">
            <color rgba="0.0 0.0 0.0 1.0"/>
        </material>
    </visual>
</link>

<link name="wheel_left2">
    <parent link="base_link"/>
    <visual>
        <geometry>
            <cylinder length="0.04" radius="0.065"/>
        </geometry>
        <origin rpy="1.57 0 0" xyz="-0.20 0.14 0.065"/>
        <material name="wheel">
            <color rgba="0.0 0.0 0.0 1.0"/>
        </material>
    </visual>
    </link>

<link name="wheel_right2">
    <visual>
        <geometry>
            <cylinder length="0.04" radius="0.065"/>
        </geometry>
        <origin rpy="1.57 0 0" xyz="-0.20 -0.14 0.065"/>
        <material name="wheel">
            <color rgba="0.0 0.0 0.0 1.0"/>
        </material>
    </visual>
</link>

<link name="base_scan">
    <visual>
        <geometry>
            <cylinder length="0.08" radius="0.05"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0.20 0 0.10"/>
        <material name="laser">
            <color rgba="0.0 0.0 0.0 1.0"/>
        </material>
    </visual>

<sensor name="base_scan" update_rate="20">
    <parent link="base_link"/>
    <origin xyz="0.2 0 0.5165" rpy="0 0 0"/>
    <ray>
     <horizontal samples="100" resolution="1" min_angle="-1.5708" max_angle="1.5708"/>
     <vertical samples="1" resolution="1" min_angle="0" max_angle="0"/>
    </ray>
</sensor>

</link>


<joint name="joint1" type="fixed">
    <parent link="base_link"/>
    <child link="wheel_left1"/>
    <origin xyz="0 0 0"/>
</joint>

<joint name="joint2" type="fixed">
    <parent link="base_link"/>
    <child link="wheel_right1"/>
    <origin  xyz="0 0 0"/>
</joint>

<joint name="joint3" type="fixed">
    <parent link="base_link"/>
    <child link="wheel_left2"/>
    <origin xyz="0 0 0"/>
</joint>

<joint name="joint4" type="fixed">
    <parent link="base_link"/>
    <child link="wheel_right2"/>
    <origin  xyz="0 0 0"/>
</joint>

<joint name="joint5" type="fixed">
    <parent link="base_link"/>
    <child link="base_scan"/>
</joint>

</robot>

rviz elated related files

<launch>
    <arg name="model" default="$(find dynamixel_workbench_operators)/urdf/robot.urdf"/>
dynamixel_workbench_operators)/urdf/robot.urdf" />
    <arg name="gui" default="False"/>
      default="False" />
    <param name="robot_description" textfile="$(arg model)" />
    <param name="use_gui" value="$(arg gui)" />
    <node pkg="dynamixel_workbench_operators" type="wheel_test" name="wheel_test"/>
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
         <param name="publish_frequency" type="double" value="50.0" />
    </node>
    <node name="rviz" pkg="rviz" type="rviz"/>
</launch>

type="rviz" /> </launch>

I need your help. Thank you.

click to hide/show revision 5
None

robot_state_publisher tf fail.

map -> odom odom -> base_link succeeds in passing tf.

However, it fails to pass from base_footprint to base_link.

For example, when I check the tf tree: Broadcaster: / robot_state_publisher Average rate: 10000.0 Buffer lenth: 0.0 Most recent transform: 0.0 Oldest transform: 0.0

I wonder why I can not receive the data.

--- URDF File --- <robot name="robot">

<link name="base_footprint"/>

name = "base_footprint" /> <parent link="base_footprint"/> link = "base_footprint" /> <child link="base_link"/> <origin xyz="0.0 link = "base_link" /> <origin xyz = "0.0 0.0 0.010" rpy="0 0 0"/> rpy = "0 0 0" /> <parent name="base_joint" joint="">

name = "base_joint" / joint> <link name="base_link"> name = "base_link"> <visual> <geometry> <geometry> <box size="0.5 size = "0.5 .26 .04"/> <origin rpy="0 0 0" xyz="0 .04" /> </geometry> <origin rpy = "0 0 0" xyz = "0 0 0.075" material="" name="body"> material name = "body"> <color rgba="1.0 rgba = "1.0 0.423529411765 0.0392156862745 1.0"/>

1.0" />
            </material>
    </visual>
</link>

<link name="wheel_left1">
    <parent link="base_link"/>
    <visual>
        <geometry>
            <cylinder length="0.04" radius="0.065"/>
        </geometry>
        <origin rpy="1.57 0 0" xyz="0.20 0.14 0.065"/>
        <material name="wheel">
            <color rgba="0.0 0.0 0.0 1.0"/>
        </material>
    </visual>
 </link>

<link name="wheel_right1">
    <visual>
        <geometry>
            <cylinder length="0.04" radius="0.065"/>
radius="0.065" />
        </geometry>
        <origin rpy="1.57 0 0" xyz="0.20 -0.14 0.065"/>
0.065" />
        <material name="wheel">
            <color rgba="0.0 0.0 0.0 1.0"/>
1.0" />
        </material>
    </visual>
</link>

<link name="wheel_left2">
    <parent link="base_link"/>
link="base_link" />
    <visual>
        <geometry>
            <cylinder length="0.04" radius="0.065"/>
radius="0.065" />
        </geometry>
        <origin rpy="1.57 0 0" xyz="-0.20 0.14 0.065"/>
0.065" />
        <material name="wheel">
            <color rgba="0.0 0.0 0.0 1.0"/>
1.0" />
        </material>
    </visual>
 </link>
 <link name="wheel_right2">
    <visual>
        <geometry>
            <cylinder length="0.04" radius="0.065"/>
radius="0.065" />
        </geometry>
        <origin rpy="1.57 0 0" xyz="-0.20 -0.14 0.065"/>
0.065" />
        <material name="wheel">
            <color rgba="0.0 0.0 0.0 1.0"/>
1.0" />
        </material>
    </visual>
</link>

<link name="base_scan">
    <visual>
        <geometry>
            <cylinder length="0.08" radius="0.05"/>
radius="0.05" />
        </geometry>
        <origin rpy="0 0 0" xyz="0.20 0 0.10"/>
0.10" />
        <material name="laser">
            <color rgba="0.0 0.0 0.0 1.0"/>
1.0" />
        </material>
    </visual>
  <sensor name="base_scan" update_rate="20">
     <parent link="base_link"/>
link="base_link" />
        <origin xyz="0.2 0 0.5165" rpy="0 0 0"/>
0" />
        <ray>
      <horizontal samples="100" resolution="1" min_angle="-1.5708" max_angle="1.5708"/>
max_angle="1.5708" />
            <vertical samples="1" resolution="1" min_angle="0" max_angle="0"/>
max_angle="0" />
        </ray>
 </sensor>
 </link>


<joint name="joint1" type="fixed">
    <parent link="base_link"/>
link="base_link" />
    <child link="wheel_left1"/>
link="wheel_left1" />
    <origin xyz="0 0 0"/>
0" />
</joint>

<joint name="joint2" type="fixed">
    <parent link="base_link"/>
link="base_link" />
    <child link="wheel_right1"/>
    <origin  link="wheel_right1" />
    <origin xyz="0 0 0"/>
0" />
</joint>

<joint name="joint3" type="fixed">
    <parent link="base_link"/>
link="base_link" />
    <child link="wheel_left2"/>
link="wheel_left2" />
    <origin xyz="0 0 0"/>
0" />
</joint>

<joint name="joint4" type="fixed">
    <parent link="base_link"/>
link="base_link" />
    <child link="wheel_right2"/>
    <origin  link="wheel_right2" />
    <origin xyz="0 0 0"/>
0" />
</joint>

<joint name="joint5" type="fixed">
    <parent link="base_link"/>
link="base_link" />
    <child link="base_scan"/>
link="base_scan" />
</joint>

</robot>

rviz related files

<launch>
    <arg name="model" default="$(find dynamixel_workbench_operators)/urdf/robot.urdf" />
    <arg name="gui" default="False" />
    <param name="robot_description" textfile="$(arg model)" />
    <param name="use_gui" value="$(arg gui)" />
    <node pkg="dynamixel_workbench_operators" type="wheel_test" name="wheel_test"/>
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
        <param name="publish_frequency" type="double" value="50.0" />
    </node>
    <node name="rviz" pkg="rviz" type="rviz" />
</launch>

I need your help. Thank you.

click to hide/show revision 6
None

robot_state_publisher tf fail.

map -> odom odom -> base_link succeeds in passing tf.

However, it fails to pass from base_footprint to base_link.

For example, when I check the tf tree: Broadcaster: / robot_state_publisher Average rate: 10000.0 Buffer lenth: 0.0 Most recent transform: 0.0 Oldest transform: 0.0

I wonder why I can not receive the data.

--- URDF File --- <robot name="robot">

<robot name = "robot">

    <link name = "base_footprint" />

 <parent link = "base_footprint" />
 <child link = "base_link" />
 <origin xyz = "0.0 0.0 0.010" rpy = "0 0 0" />
 <parent name = "base_joint" / joint>

 <link name = "base_link">
     <visual> 
         <geometry>
             <box size = "0.5 .26 .04" /> 
         </geometry>
         <origin rpy = "0 0 0" xyz = "0 0 0.075" material name = "body">
             <color rgba = "1.0 0.423529411765 0.0392156862745 1.0" />
             </material>
     </visual>
 </link>

 <link name="wheel_left1">
     <parent link="base_link"/>
     <visual>
         <geometry>
             <cylinder length="0.04" radius="0.065"/>
         </geometry>
         <origin rpy="1.57 0 0" xyz="0.20 0.14 0.065"/>
         <material name="wheel">
             <color rgba="0.0 0.0 0.0 1.0"/>
         </material>
     </visual>
 </link>

 <link name="wheel_right1">
     <visual>
         <geometry>
             <cylinder length="0.04" radius="0.065" />
         </geometry>
         <origin rpy="1.57 0 0" xyz="0.20 -0.14 0.065" />
         <material name="wheel">
             <color rgba="0.0 0.0 0.0 1.0" />
         </material>
     </visual>
 </link>

 <link name="wheel_left2">
     <parent link="base_link" />
     <visual>
         <geometry>
             <cylinder length="0.04" radius="0.065" />
         </geometry>
         <origin rpy="1.57 0 0" xyz="-0.20 0.14 0.065" />
         <material name="wheel">
             <color rgba="0.0 0.0 0.0 1.0" />
         </material>
     </visual>
 </link>
 <link name="wheel_right2">
     <visual>
         <geometry>
             <cylinder length="0.04" radius="0.065" />
         </geometry>
         <origin rpy="1.57 0 0" xyz="-0.20 -0.14 0.065" />
         <material name="wheel">
             <color rgba="0.0 0.0 0.0 1.0" />
         </material>
     </visual>
 </link>

 <link name="base_scan">
     <visual>
         <geometry>
             <cylinder length="0.08" radius="0.05" />
         </geometry>
         <origin rpy="0 0 0" xyz="0.20 0 0.10" />
         <material name="laser">
             <color rgba="0.0 0.0 0.0 1.0" />
         </material>
     </visual>
     <sensor name="base_scan" update_rate="20">
         <parent link="base_link" />
         <origin xyz="0.2 0 0.5165" rpy="0 0 0" />
         <ray>
             <horizontal samples="100" resolution="1" min_angle="-1.5708" max_angle="1.5708" />
             <vertical samples="1" resolution="1" min_angle="0" max_angle="0" />
         </ray>
     </sensor>
 </link>


 <joint name="joint1" type="fixed">
     <parent link="base_link" />
     <child link="wheel_left1" />
     <origin xyz="0 0 0" />
 </joint>

 <joint name="joint2" type="fixed">
     <parent link="base_link" />
     <child link="wheel_right1" />
     <origin xyz="0 0 0" />
 </joint>

 <joint name="joint3" type="fixed">
     <parent link="base_link" />
     <child link="wheel_left2" />
     <origin xyz="0 0 0" />
 </joint>

 <joint name="joint4" type="fixed">
     <parent link="base_link" />
     <child link="wheel_right2" />
     <origin xyz="0 0 0" />
 </joint>

 <joint name="joint5" type="fixed">
     <parent link="base_link" />
     <child link="base_scan" />
 </joint>
</robot>

</robot>

rviz related files

<launch>
    <arg name="model" default="$(find dynamixel_workbench_operators)/urdf/robot.urdf" />
    <arg name="gui" default="False" />
    <param name="robot_description" textfile="$(arg model)" />
    <param name="use_gui" value="$(arg gui)" />
    <node pkg="dynamixel_workbench_operators" type="wheel_test" name="wheel_test"/>
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
        <param name="publish_frequency" type="double" value="50.0" />
    </node>
    <node name="rviz" pkg="rviz" type="rviz" />
</launch>

I need your help. Thank you.