ROSAria How to publish odom to frame different than base_link

asked 2018-07-25 13:19:08 -0600

Dox gravatar image

updated 2018-07-27 05:01:21 -0600

Hi,

is there a way to modify the parameteres of ROSAria so it publishes odom frame not to base_link but to a base_footprint frame that would be on ground under base_link. I have tried to do that using tf by setting a static transform between base_footprintand base_link and also setting a ROSAria base_link_frame parameter to base_footprint. Unfortunately, I get the warning of two unconnected trees. This way I am attempting to correct the offset between 2D map and robot in Rviz which is is kind of floating in mid air, that is, robot is not placed correctly on top of the map.

I am running ROS Kinetic on Ubuntu 14.04.

Thank you in advance!

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I think setting the base_link_frame param to base_footprint should accomplish what you're trying to do. If you run ROSAria with defaults, does it publish the tf from odom->base_link? Can you post the launch file you're using? Is the child frame of the odometry message "base_footprint"?

stevejp gravatar image stevejp  ( 2018-07-25 19:00:43 -0600 )edit

Hi! I don't have any problems running ROSAria with defaults. This is how tf frames look then. I'm doing remote mapping, so I have 2 separate launch files, one on robot (RPI3) and other one on laptop.

Dox gravatar image Dox  ( 2018-07-26 05:35:39 -0600 )edit
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