Lee-JaeWon / Multi-Turtlebot3-Cartographer-And-Localization

Multi robots perform mapping or localization and navigation.

MIT License

17 stars 1 forks source link

Static tf #3

Open Zuhair-A-Ahmed opened 4 months ago

Zuhair-A-Ahmed commented 4 months ago

https://github.com/Lee-JaeWon/Multi-Turtlebot3-Cartographer-And-Localization/blob/4aca3cb4def0894ced068bb0d8db322341edaa22/launch/tb3_cartographer.launch#L146

Dear Lee, Firstly thanks for you sharing. I want to ask you about these lines of frames transformation.

How can the Map fram be a static broadcaster ? It is dynamically changing. Please imform me for your reasons may be this is my main problem in my project.

Thanks and best !

Lee-JaeWon commented 4 months ago

@Zuhair-A-Ahmed If I remember correctly, I tried to match the maps of three robots, but I didn't succeed. (not related to this repository) Logically, I could have just gone straight from /map to each robot's odom frame without the map frame of each robot.