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 | 1 | initial version |
Your base_link and map are in the wrong place. StampedTransform is defined as:
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StampedTransform (const tf::Transform &input, const ros::Time ×tamp, const std::string &frame_id, const std::string &child_frame_id)
So try this:
broadcaster.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "map", "base_link"));
| | 2 | No.2 Revision |
Your base_link and map are in the wrong place. StampedTransform is defined as:
StampedTransform (const tf::Transform &input, const ros::Time ×tamp, const std::string &frame_id, const std::string &child_frame_id)
So I think base_link should be the child_frame, so try this:
broadcaster.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "map", "base_link"));
| | 3 | No.3 Revision |
Your base_link and map are in the wrong place. StampedTransform is defined as:
StampedTransform (const tf::Transform &input, const ros::Time ×tamp, const std::string &frame_id, const std::string &child_frame_id)
I think base_link should be the child_frame, so try this:
broadcaster.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "map", "base_link"));
EDIT
I guess maybe you should check if your orientation msg is right. I mean, the orientation is represented by quaternion(x,y,z,w), and x*x + y*y + z*z + w*w = 1.
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