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hasauino / rrt_exploration_tutorials

This package provides launch files for Gazebo simulation needed to test the rrt_exploration package
http://wiki.ros.org/rrt_exploration/Tutorials
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How to create map in RViz for MOOR robot using rrt_exploration_tutorial launch files? #14

Closed Sepideh-Bzh closed 3 years ago

Sepideh-Bzh commented 5 years ago

Hi, I have a problem about showing the map in Rviz when I add my robot(Moor) in your rrt_exploration_tutorial package as follows: image

The launch files and TF tree is constructed as follows: image

I just changed the highlighted part and replaced my robot description image

image

what I can do to resolve this problem and create link between odom and base_link?

hasauino commented 5 years ago

Hi, Your TF tree is not connected together, there is a missing transformation that should be published from robot_1/odom to robot_1/base_link.

This is related to your mybot.xarco. In my package I just use the Kobuki robot description file which declares everything. The robot description file should not just be a URDF file defining the links and geometry of the robot, it should also include gazebo plugins for the robot (robot controller) and also for the sensors so the simulated robot can publish data same as a real robot. I'm not familiar with how this is done though.

Sepideh-Bzh commented 5 years ago

Thank you for your help