Open rlkamalapurkar opened 2 years ago
I just found out that the tf
tree published by the real TurtleBot3 is identical to the Gazebo version, just odom
and base_footprint
. Why doesn't the TurtleBot3 publish all the other transformations that the fake node does?
Is it because you're using a 3rd party LIDAR?
I met a similar problem in Rviz using ROS2 Foxy. In Rviz it showed several TF warnings that "no information was transfered from [...] to [map]". Then I checked the code of lidar itself and found nothing related to the TF node. So it means robot doesn't know anything other than the 2D point clouds.
Maybe you need to write this part by yourself.
ISSUE TEMPLATE ver. 0.4.0
Which TurtleBot3 platform do you use?
Which ROS is working with TurtleBot3?
Which SBC(Single Board Computer) is working on TurtleBot3?
Which OS you installed on SBC?
Which OS you installed on Remote PC?
Specify the software and firmware version(Can be found from Bringup messages)
Specify the commands or instructions to reproduce the issue.
RviZ
simulatorroslaunch turtlebot3_fake turtlebot3_fake.launch
tf
treerosrun rqt_tf_tree rqt_tf_tree
RviZ
simulatorGazebo
simulatorroslaunch turtlebot3_gazebo turtlebot3_empty_world.launch
tf
treerosrun rqt_tf_tree rqt_tf_tree
Copy and Paste the error messages on terminal.
Please describe the issue in detail.
The
RviZ
simulation publishes a completetf
tree.The
Gazebo
simulation only publishesodom
andbase_footprint
frames.Is this intentional? What can I do to get the
Gazebo
simulation to publish the completetf
tree?