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tf represents coordinate frames and the transforms between them as a tree. This means each frame_id
can only have one parent (but can have many children). You currently have three separate nodes publishing a transform from different frames into base_link: robot_pose_ekf
, rgbd_odometry
, and odom
.
In other words, renaming only the odom frame coming from robot_pose_ekf
isn't enough. If you had instead/also renamed the child_frame_id
(base_link), it would have worked. Alternatively and preferably, the rgbd_odometry
node may have a parameter that stops it from publishing its transform. Finally, you appear to have a third node publishing that transform (the odom
node).