Error related with TF tree
I'm trying to localize a Pioneer P3dx with AMCL. Whenever i run rosrun amcl amcl the node says that no data is being published in /scan. I've searched for it and people usually say that there need to...
View ArticleHow to verify odom --> base_link is accurate or not？
I'm using AMCL and when I specify a goal to navigation, the pose of my robot drift.While AMCL need `odom --> base_link` tf and laserscan data,so how can I verify `odom --> base_link` is accurate...
View ArticleDo the /odom topic and odom->base_link tf provide duplicate information?
I'm making a differential-drive rover with wheel encoders and planar LIDAR, but at the moment no other sensors. I understand why it's useful to have [separate `map` and `odom`...
View ArticleHow does navigation get base_link information from stage
Hey can anyone tell me how does navigation(move_base) get base_link information when i simulate mobile robot in stage. When I move the robot position manually in stage window, the position of base_link...
View ArticleWhats the difference between base_frame and base_link?
So I am trying to map a model(urdf) to my hector slam project which seems to have base_frame. I don't have any base_link? rosrun tf tf_echo /map /base_link CFailure at 1485981006.541937303 Exception...
View ArticleHow to change the position of "base_link" frame?
For navigation, the base_link should be placed at the rotational center of the robot. My robot is a rectangular shaped robot, whose rotation center is at the front. How do I change the location of...
View ArticleTurtlebot Create2 base_link location
According to REP 105, `base_link` should be in the center of rotation of the base, in this case a iRobot Create 2. What I can't figure out is where it is vertically. Is `base_link` at floor level or...
View ArticleHow to drive robot in opposite direction
Hi all, I have a robotic research platform with caster wheels on the front and drive wheels at the back. At the moment it's driving with caster wheels at the front but I feel the dynamics could be...
View Articleimu frame_id doesn't match base_link
The frame_id of imu data in my bagfile is imu_link, not base_link. After rosrun the node, I didn't get odometry/filtered data flow. I assume there's problem with frame_id mismatching .So I add into...
View ArticleCould not obtain transform from /gps to base_link
After rosrun ekf_localization_node and navsat_transform_node, I got warning like this: [ WARN] [1494926574.013925839]: Could not obtain transform from /gps to base_link. Error was Invalid argument...
View ArticleWhen using navsat_transform_node, isn't it a problem to use IMU yaw to...
Hello, In [this video from Tom Moore](https://www.osrfoundation.org/tom-moore-working-with-the-robot-localization-package/) at time 12:36, I can see that he sets IMU yaw to true. The consequence of...
View Articlenot getting map in gmapping transform from odom to base_link problem
i m using gmapping and i m not able to transform from `odom` to `base_link`. i have the odometry on `wheel_odometry` topic which has header frame id as `odom` and child frame id as `base_link` further...
View ArticleHow does robot_localization finds tf between odom and base_link?
Hello Is there any documnetation that describes how the relation between odom frame and based_link frame is calculated? It seems that some sort of self-calibration is happening there
View Articlemap does not show up on RVIZ while using hector_slam
Hello everyone, i am using RPLIDAR A1 and hector_slam but so for there is no luck, RVIZ will start with nothing and no map in it. Here is the details: from this topic...
View ArticleFixing TF between base_link and odom
Hey , i am in the process of porting my robot from simulation to real world . 1. Finished URDF (robot_description) , which publishes the *tf* 2. Finished with the most essential stack such as robot_nav...
View ArticleWhat is odom_frame ever used for?
I understand that odom_frame is only locally accurate, and that the transformation map -> odom -> base_link is what provides accurate pose information if it is ever needed. However, map ->...
View Articlebase_link vs base_footprint
I have read that the navigation stacking within ROS requires the use of base_footprint. What is the difference between base_link and base_footprint? How do I know which I should use?
View ArticleImu data for robot_localization is reported in base_link, not in ENU
Hi there, I'm currently working on my first project with ROS trying to implement a SLAM algorithm. Right now I'm stuck with fusing data to robot_localization.My IMU data is published in the base_link...
View ArticleTf transform base_footprint base_link not working
Hi, I am working with a Kuka robot. When I launch youbot drivers everything works right and I can control platform movement with a remote joystick. But, when I execute: rosrun tf tf_echo base_link...
View Articlewhat is the best way to connect ackermann steering with rviz?
Hello, I am building my own car-like robot. For the driving motor controller, I am using the SDC2130 from Roboteq. I have found this package on github called...
View ArticleHow do we initialize a "base_link" frame
When we run roslaunch turtlebot_bringup minimal.launch, and look at rosrun tf viewframes, we get many frames which includes "base_link". Now I am trying a new setup that does not include the...
View Articleodom not aligned with base_link?
When viewing my robot in rviz, the odom link seems not to be aligned with the rest of the robot https://imgur.com/a/4exMRIa. What could causing this?
View ArticleRobot Localization with Odometry and UM7
Hello all, I am trying to get localization to work for a custom car like robot. I am able to publish odom from wheel encoders and imu/data from my UM7 imu sensor. I would like to fuse together these...
View ArticleTF_OLD_DATA error after upgrading to Gazebo 8 from 7, ROS Kinetic
Thanks for looking! Been trying to rectify this issue for the past few days to no avail. **Background** The differential drive robot project had been worked on using ros kinetic and gazebo7 but I've...
View ArticleWhere is all the frames information
Hi I am using a robot system and tying to understand the tf. When I open rviz, I saw the following frames available to be selected for Fixed Frame: odom, laser, base_link, base_footpinrt,...
View ArticleHow to include ArUco frame linked to base_link of two-wheel robot?
Hi, I'm able to successfully generate tf for detected ArUco markers which is kept on the robot from a stationary camera. The ArUco markers are pasted to a cardboard box on top of the robot. So how to...
View ArticleReset Odometry poses
Hi , I am trying to create a script in python that resets the odometry values I get from my odometry topic but does not seem to work. Any thoughts?? Thanks in advance. #! /usr/bin/env python import...
View Articlerviz - only base_link works
Hello Everyone! At first, sorry for my English :( I`ve got a problem. I'm beginner at ROS (melody, ubuntu 18.04). I learing how to do a URDF file, i'm using this tutorial:...
View ArticleChange base_link position
How do we change the base_link coordinate centre on autoware? Is there a default one that it automatically uses? If so where is it positioned?
View ArticleCan a frame be both parent_id and child_id?
I'm using odom as parent_id for base_link and child_frame_id for map tf in the respective launch files. Will it cause any issues in my tf tree?
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