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rapyuta-robotics / turtlebot3-UE

Apache License 2.0
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fram_id modification required to run example Ubuntu 22.04 Humble #89

Open KMerdan opened 1 week ago

KMerdan commented 1 week ago

Description

I am following the documentation to run the jammy branch of turtlebot3-UE. However, the turtlebot3-UE publisher automatically adds the BP_TurtlebotWaffle prefix to the frame_id & topic_name of the published topics. For example:

This is causing issues because nav2 expects these frames without the prefix (e.g., odom, base_scan, base_link).

Expected Behavior

I would like to know how to remove or customize the BP_TurtlebotWaffle prefix in turtlebot3-UE so that the frame IDs are published without it.

For example:

Additional Information

I am not very familiar with Unreal Engine Blueprints and have mainly been looking at the code. However, I haven't found anything in the source code that directly relates to this issue. It would be helpful if someone could point me in the right direction or suggest how to modify this behavior.

yuokamoto commented 4 days ago

Hi, Thanks for you comment ans sorry for late response.

Could you try

KMerdan commented 4 days ago

Thanks, that works. a little bit off the topic, i still have trouble to run the turtleBot3-UE example with nav2 stack like this: ros2 launch nav2_bringup tb3_simulation_launch.py use_simulator:=False map:=./Content/Turtlebot3_benchmark.yaml where the tf between map and odom are not been published(by acml i guess), image so it results like this Screenshot from 2024-10-02 14-08-35

any idea what i missed here @yuokamoto

yuokamoto commented 4 days ago

I'll check later Did you provide initial pose?

KMerdan commented 4 days ago

yes, i did.

james-yoo commented 4 days ago

@KMerdan I think 'wheel_right' and 'wheel_left' link should be attached to 'base_link' not 'base'.

KMerdan commented 4 days ago

@james-yoo i think you are right. but this is what turtleBot3-UE default publish result, i didn't do any modification yet, just try to run it.