Open Rafafbo opened 6 months ago
Hi @Rafafbo ,
you should mention the code which you changed, like this:
That way it is easier to understand ...
I would check the car xacro definition, in particular the place where hodometry is defined. There should be a way to define the name of the odom frame and change it to world.
In any case @manuelgitgomes will know more about this than me ...
Hi @Rafafbo ,
you should mention the code which you changed, like this:
That way it is easier to understand ...
Noted!
I would check the car xacro definition, in particular the place where hodometry is defined. There should be a way to define the name of the odom frame and change it to world.
In any case @manuelgitgomes will know more about this than me ...
Yes, I checked it and didn't see any definition of the odom or the world frame.
Perhaps this
But only @manuelgitgomes will be able to help. He is quite busy now so probably will only reply next week...
Hello @Rafafbo.
Honestly, I am not certain how I did this and, as @miguelriemoliveira stated, I do not have the time to delve into this right now.
However, I found this: https://github.com/lardemua/atlascar2/blob/ef7ae5f5ae60637faa54be49856dc73d791db19f/atlascar2_bringup/launch/ackermann_bringup.launch#L16-L22
When calibrating, for some reason, I use different parameters. Are you setting the arg calibration
as true when launching?
Hello @manuelgitgomes
Yes, I tried but same issue with other frames and i don't understand why you made this transform: https://github.com/lardemua/atlascar2/blob/ef7ae5f5ae60637faa54be49856dc73d791db19f/atlascar2_odom/nodes/model_states_to_odomtf.py#L23-L27 Anyway, don't worry about it now because I found another way to get good collections!
Hey, In order to get better collections for calibration purposes, I'm trying to record the rosbag while changing the pattern's position and orientation in Rviz. For that matter, i see that in the interactive_pattern node gets the pattern pose relative to 'world' frame and sets the f feedback pose from Rviz to the same frame. I checked the TF tree and the frame in gazebo is 'odom':
I tried changing 'world' to 'odom' in the 3rd line in code-snippet but it failed
rospy.wait_for_service('/gazebo/get_model_state')
get_model_state_service = rospy.ServiceProxy('/gazebo/get_model_state', GetModelState)
pose_gazebo = get_model_state_service(model_name, 'world')
status_message:"GetModelState: reference relative_entity_name not found, did you forget to scope\ \ the body by model name?"
Since there is no world frame in Rviz as well, i set the iterative marker.header.frame_id = 'odom' which works, when moving it in Rviz it also moves in gazebo but, as expected, the poses don't match:
Any idea on how to solve this?