Closed james-yoo closed 7 months ago
yes. that should be. Turtlebot did that as well.
Did you set bPublishOdom
and Robot->bMobileRobot
true as well?
https://github.com/rapyuta-robotics/RapyutaSimulationPlugins/blob/d382ad556b6be3d6af1743a9364720616086bbc4/Source/RapyutaSimulationPlugins/Private/Robots/RRRobotROS2Interface.cpp#L43
@yuokamoto Thanks for your reply. I tested with 4 robots as below(in Content/Robots/Turtlebot3/Physics) :
Although I checked the 'PublishOdomTf' option and started the simulation, there was no transform from 'odom' to 'base_footprint'. There are only transforms from 'base' to 'wheel_left' and 'wheel_right' as below:
Which branch are you using?
This is my case with jammy branch of turtlebot3-UE
@yuokamoto I have cloned 'jammy' branch and checkout following branches:
I am developing with the following conditions:
I become able to reproduce issue. I will investigate more
Created PR https://github.com/rapyuta-robotics/RapyutaSimulationPlugins/pull/253
and turtlebot3-UE branch for UE5.3 https://github.com/rapyuta-robotics/turtlebot3-UE/tree/jammy_UE5.3
I still don't know why it works for UE5.1 though
@yuokamoto When I check this option to true in the RRobotROS2Interface, I expected a tf from 'odom' to 'base_footprint' to be published, but nothing happened. What is this variable for?