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osrf / rosbook

Example code to accompany the book Programming Robots with ROS
Apache License 2.0
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Robot model not properly oriented with map frame in Rviz #9

Closed kishorekumar29 closed 8 years ago

kishorekumar29 commented 8 years ago

I have launched my roslaunch file (created following tortoisebot). I have reused the willow world and willow map since i got problem in building my own map which was raised as another issue in this repository. Then i visualized the navigation in Rviz the robot model was improper when i select "map" as fixed frame. The orientation was improper (wheels are not landed on ground surface) also when i choose other links as fixed frame. It is perfectly oriented only when i choose odom as fixed frame. Please find my result in the images.

nav map1 robot_map

kishorekumar29 commented 8 years ago

I have used wrong coordinate system. The fix is modifyinf the URDF to right hand coordinate system.

codebot commented 8 years ago

Just for completeness, in case anyone else finds this ticket later: what did you do to fix your problem? How did you change your coordinate system? On Feb 4, 2016 6:38 AM, "kishorekumar29" notifications@github.com wrote:

Closed #9 https://github.com/osrf/rosbook/issues/9.

— Reply to this email directly or view it on GitHub https://github.com/osrf/rosbook/issues/9#event-539021015.

kishorekumar29 commented 8 years ago

This issue is related to the other issue which i have already raised here. This issue even gave a clue to root cause both the issues. The fix and explanation is given in other issue which is denoted above.