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No transform from [ALL_WHEELS] to map #64
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there's no TF between map frame and odom frame at runtime, you have to set the robot's initialpose (either from Rviz or programmatically https://github.com/ros-planning/navigation2/blob/main/nav2_simple_commander/nav2_simple_commander/robot_navigator.py#L109) to give the robot its prior |
Hi, thanks for the quick response! I tried setting the initial pose (both with Rviz 2D pose estimate tool and with 'ros topic pub /set_pose') but got the same result. Can you explain a bit more why there's no TF between map and odom? Because without me setting the initialpose, the TF Tree already shows a TF from map to odom: |
sorry my bad, setting initialpose is only for navigation. Did you manage to create a full map even with those errors? |
Yes, mapping works fine just two errors:
|
Issue Summary
Hi, I'm new to ROS2 and I'm trying to run the mecanum robot simulated in gazebo and with SLAM. However I get an error when trying to see the RobotModel in RViz.
Issue Details
I followed the README, first using the
linorobot2_desciption
launch and i could see the RobotModel perfectly in Rviz. Then i used thelinorobot_gazebo launch
and everithing worked (i even moved the robot with the teleop package). But when i triedlinorobot_navigation slam.launch.py
withrviz:=true
i got the following warning:and the following error in Rviz:
Steps to Reproduce
ros2 launch linorobot2_gazebo gazebo.launch.py
ros2 launch linorobot2_navigation slam.launch.py rviz:=true sim:=true
System Information
Additional Information
Despite the error the mapping works.
I noticed that the TF tree did not have tfs for the wheels. Upon some reasearch i found that usually the joint_state_publisher node is used for that purpose. So I changed the
publish_joints
argument fromfalse
totrue
in:in the
gazebo.launch.py
file and was able to see the robot model in Rviz (i also had to change the fixed frame from map to base_link despite the TF tree being as shown below).The text was updated successfully, but these errors were encountered: