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kobuki-base / kobuki_ros

ROS2 runtime libraries, nodes and launchers for the Kobuki
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gyro_link missing in tf tree #40

Open nedo99 opened 2 years ago

nedo99 commented 2 years ago

Hi,

When starting kobuki node, I dont see a gyro_link frame when generating tf tree with ros2 run tf2_tools view_frames.py. If I do ros2 topic echo /sensors/imu_data_raw I get the output and I see the header (frame_id gyro_link), no child or parent frame.

I could not find anywhere tf transform. I also checked here http://kobuki.yujinrobot.com/wiki/online-user-guide/ but no relative position of the IMU relative to base_link.

Any idea?

wn1980 commented 2 years ago

To get static tf, you should run kobuki_description node.

nedo99 commented 2 years ago

To get static tf, you should run kobuki_description node.

Tried, but getting:

launch.substitutions.substitution_failure.SubstitutionFailure: file not found: [Errno 2] No such file or directory: 'xacro'

Could you just provide tf transform parameters?

wn1980 commented 2 years ago

To get static tf, you should run kobuki_description node.

Tried, but getting:

launch.substitutions.substitution_failure.SubstitutionFailure: file not found: [Errno 2] No such file or directory: 'xacro'

Could you just provide tf transform parameters?

Probably, you are missing xacro. Supposed you are using ros2 foxy, to pull all dependencies, run this command in your ros2 workspace folder :

sudo rosdep install -i --from-path src --rosdistro foxy -y

And then,

colcon build