Open Juancams opened 1 year ago
Hello, I think you can help me.
I'm using the kobuki_node along with the kobuki_description in ROS Humble to visualize the robot's movement in Rviz. My robot is a Turtlebot2i, so I created a specific package with the URDF of the robot's structure and used the URDF of the Kobuki itself for the base.
When I open Rviz, I can only see the robot moving if the frame is set to odom, but I want it fixed on base_link. In the TF tree, the order is odom -> base_footprint -> base_link, and even so, it only moves in odom. Do you have any idea how I can solve this?
Hello good,
Sorry for answering so late. I know about that error, but I haven't been able to find the solution. Apparently, in the transform tree everything is linked, just like in the urdf you have base_footprint linked to base_link, but for some reason it is not.
The patch to make it work is to directly publish the transform. I do it in the following way in my simulation launcher:
tf_footprint2base_cmd = Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=[
'0.0', '0.0', '0.001',
'0.0', '0.0', '0.0',
'1.0', 'base_link', 'base_footprint'
],
)
I hope this works for you too.
Good,
I have modified the urdfs and created a launcher so that you can spawn the kobuki in ros2 humble.
please someone take a look.
Ty.