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rst-tu-dortmund / teb_local_planner_tutorials

This package contains supplementary material and examples for teb_local_planner tutorials.
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Incorrect starting position and map frame in RViz #11

Open pranshumalik14 opened 4 years ago

pranshumalik14 commented 4 years ago

I'm using ROS Melodic and after building the modified version of ros_stage provided here, the tutorials on dynamic obstacles work fine except for the incorrect local cost map in RViz and the location of the robot.

I have attached the pictures, and I haven't been able to track down why the initialization is wrong. No such warning message shows up on the terminal. But it seems like the problem is with some TFs are missing in the dyn_obst_corridor_scenario example.

It'll be great if someone can help me out with setting this up properly!

vel_estimation

dyn_obst_rviz rviz stage_ros tf

pranshumalik14 commented 4 years ago

@croesmann it will be great if you can help out a bit

beevabeeva commented 4 years ago

Also experiencing this issue.

DyedBamboo commented 3 years ago

Just change the TF release in the launch file

Shivam7Sharma commented 1 year ago

Just change the TF release in the launch file

I am facing the same issue. Can you please elaborate on your solution?

@croesmann

peikun1990 commented 1 year ago

I have the same issue. Does anyone have the solution?

ksvbka commented 1 year ago

I have the same issue. Does anyone have the solution?

Just change param in static_transform_publisher. Eg: <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 1 /map /robot_0/odom 100" />

Rago777 commented 10 months ago

I've just solved this problem, and I can provide the following two solutions: 1.Update your stage_ros following the content at this URL: https://github.com/ros-simulation/stage_ros/pull/63/commits/52d894eb3d322e7d86b380db6d8c4432a69ab8ab 2.Modify the static tf transformation statements in the dyn_obst_costmap_conversion.launch file related to the 'location file' to node pkg="tf" type="static_transform_publisher" name="perfect_loc_robot" args="0 0 0 0 0 0 /map /robot_0/odom 100, which means changing all transformation parameters to 0.（I cannot retain '<>' as it seems to cause this line of code to be missing in the response.） Now you can use this instance normally. I haven't checked the other instance yet to find the solution.