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wilselby / diy_driverless_car_ROS

ROS packages for DIY driverless car/autonomous vehicle development
BSD 2-Clause "Simplified" License
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odom frame does not exist #5

Closed mvgianel closed 3 years ago

mvgianel commented 4 years ago

I am not very familiar with ROS, and I am trying to understand how to simulate a robot and do mapping with a LiDar and cartographer in ROS. I would like to be able to visualize a point cloud and read messages from the imu topic.

I am trying to run the following command: roslaunch rover_gazebo rc_dbw_walker.launch rviz:=true world_name:=willowgarage teb:=true frontier:=true x:=-0.4 y:=5.5 yaw:=1.5 gui:=false

But when I do, I get the following error: [ERROR] [1595493283.292215429]: gazebo_ros_p3d plugin: frameName: odom does not exist, will not publish pose

Screenshot from 2020-07-23 04-22-49

I found that if I change the Fixed Frame from odom to base_link in the rc_model.rviz file, I am able to visualize the model and pointcloud on rviz. However, I realized that no imu messages are being published.

Screenshot from 2020-07-23 03-41-58

What do I need to do to visualize the lidar and imu data?

changpowei commented 3 years ago

Hi @mvgianel,

I'm facing same problem with you! Did you figure out how to solve this?

mvgianel commented 3 years ago

Hello @changpowei,

I solved this issue some time ago, so I am not 100% sure, but I believe the problem was that I was missing the hector-gazebo plugins. This is the wiki for them http://wiki.ros.org/hector_gazebo_plugins. You can probably install them with "sudo apt-get install ros-melodic-hector-gazebo-plugins" but I am not sure.

Hope that helps!