I have the following scheme in simulation enviroment with Gazebo and Rviz:
laser_frame -> base_link -> base_stabilized -> base_footprint -> odom -> map -> world
laser_frame to base_link is provided by robot_state_publisher looking up in the urdf file
base_link -> base_stabilized -> base_footprint -> odom is provided by a 'message_to_tf' node that takes ground_truth topic with z axis and rotation to publish this transformations
odom -> map is provided by a mapper node setting up the transforms in x-axis and y-axis
map -> world is provided by a node doing a static/fixed transform
In Rviz we have as fixed frame and target frame the /world frame.
World is fixed, map is fixed refering to world, odom is moving in x,y,z and rotation refering to map BUT base_footprint, base_link and therefore laser_frame arent moving. They keep as they started.
How can I fix it? What am I missing?
Thanks
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