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I apologize if that came across as confrontational. I was just asking an honest question, because my solution solved my

I apologize if that came across as confrontational. I was just asking an honest question, because my solution solved my

I apologize if that came across as confrontational. I was just asking an honest question, because my solution solved my

Not sure why there are downvotes. It looks like this has been an issue for several years, and Steve's answer only works

Not sure why there are downvotes. It looks like this has been an issue for several years, Steve's answer only works for

I went with the manual solution, manually calculating where the odom message should be for the robot frame instead of th

I went with the manual solution, manually calculating where the odom message should be for the robot frame instead of th

I'm having an issue with robot_localization when my sensor frames are offset from the base_link frame.

I have robot with a realsense T265 odometry sensor, but when I run a robot_localization UKF, it places the robot frame at the odometry message instead of the sensor frame.

TF tree:

odom        base_link -> base_link/t265

Topic:

name: /base_link/t265/odom
type: Odometry
frame_id: odom
child_frame_id: base_link/t265

UKF Config:

map_frame: map
odom_frame: odom
base_link_frame: base_link
world_frame: odom

odom0: /base_link/t265/odom

Below I have the Odometry topic and the TF tree after the UKF is run.

Issue: Since the odom's child_frame_id is base_link/t265, the odom topic should identify the location of that frame, not the base_link frame, right? I’m expecting the UKF to compute the odom->base_link tf such that the t265 frame will be placed at its odom message, but instead it places base_link there directly.

I went with the manual solution. This problem is also described in the last comment on the accepted answer here, which

@stevemacenski The last comment on the accepted answer here describes the same problem. It sounds like the answer is jus

robot_localization odom wrong frame I'm having an issue with robot_localization when my sensor frames are offset from th

As a demonstration of the problem, when I hold the sensor in my hand and rotate it in place, the base_link frame turns i

As a demonstration of the problem, when I hold the sensor in my hand and rotate it in place, the base_link frame turns i

As a demonstration of the problem, when I hold the sensor in my hand and rotate it in place, the base_link frame turns i

You say change the configuration if I want all fused data to be in the T265 frame, but I don't. I want to take the T265

@stevemacenski, I have read pages and pages of documentation and forum posts, and sadly put dozens of hours into this qu

@Steve, I have read pages and pages of documentation and forum posts, and sadly put dozens of hours into this quite simp

Does the robot_state_publisher do anything helpful here beyond publishing static TFs? I think I'm accomplishing the same

Maybe I'm misunderstanding. If I have multiple sensors mounted at different positions on the robot, and each reports odo

Updated the last sentence. Hopefully that clarifies it. This sounds like a standard use case that I’ve seen lots of disc

robot_localization odom wrong frame I'm having an issue with robot_localization when my sensor frames are offset from th

Thank you. Updated the question with the screenshot.

robot_localization odom wrong frame I'm having an issue with robot_localization when my sensor frames are offset from th

robot_localization odom wrong frame I'm having an issue with robot_localization when my sensor frames are offset from th