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In gmapping documents http://www.ros.org/wiki/gmapping , and in 5.1.5,5.1.6 says that base_link → odom, and map → odom.
I have try to use map → odom → base_link → base_laser.
I don't know "base_link → odom" is right or "odom → base_link" is right? Why?
What's the transform formula between odom and base_link?
Can I output the transform data(map→odom) from gmapping?
Thank you~
odom -> base_link. You are building a tree starting from a fixed frame and going down the attached things.
What do you mean with formula? It should be the robot's motion estimation.
Do you mean output for debugging or generate? For the former use tf_echo (or display in rviz), for the latter: Yes, that's what it's supposed to do.
What could be the reasons of empty map.pgm although it's size is 15.3 MB. Now laser messages are properly published and the tf tree looks ok. But no transform from [/GrndTruth] to frame[/map] and no transform from [/base_GrndTruth to frame[/map]. You can view in details http://answers.ros.org/question/94671/error-in-creating-2d-global-map-of-the-environment/
Asked: 2011-07-30 02:42:04 -0600
Seen: 1,697 times
Last updated: Jul 30 '11
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