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turtlebot / turtlebot_simulator

Launchers for Gazebo simulation of the TurtleBot
http://www.ros.org/wiki/turtlebot_simulator
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fixed map and costmap misalignement due to wrong frame_id #36

Closed mehditlili closed 9 years ago

mehditlili commented 9 years ago

The map published by STDR had "map" as frame ID whereas I am using "world" as global frame_id. This causes a misalignment between static_map and global_costmap in RVIZ. The only way to fix this was to run a parallel map server that publishes the same static map to a different topic (i.e /new_map) but with a frame_id "world" and choose it in RVIZ instead of "/map". If my description was not clear, I can show you directly on my computer.

mehditlili commented 9 years ago

topic renamed to rviz_map. An alternative like you suggested would be to remap STDR map to unused_map and just use the map from map_server.

mehditlili commented 9 years ago

I made a pull request to change the frame-id in stdr from map to world. I will let you know when they merge it so that you merge my last changes in turtlebot_stdr.

stonier commented 9 years ago

@mehditlili : got a link to that stdr pull request?

mehditlili commented 9 years ago

Here : https://github.com/stdr-simulator-ros-pkg/stdr_simulator/pull/164

jihoonl commented 9 years ago

Any progress on this?