urdf in rviz is too deep

Question

Hi, I setup my robot system and its working good.

I am using hector mapping with urdf and a laserscanner and I am getting the following result: I dont know why exactly the robot is kind of swimming in the world, here is my tf tree:

Another Question is now, how can I make the Robot move autonomously and how can I integrate a path planner? What is a common used module to make the robot move and avoid obstacles and crashes?

thanks in advance, felix

---

Originally posted by felixwatzlawik on ROS Answers with karma: 201 on 2015-04-30

Post score: 0

---

Original comments

Comment by jarvisschultz on 2015-04-30:
For your second question, you'll want to check out the navigation stack. It has packages that include local and global path planning, and it is the most common way to get started with autonomous navigation in ROS.

Answer 1

I dont know why exactly the robot is kind of swimming in the world [..]

A likely reason is because you have placed the origin of your urdf (typically called base_link) in the centre of the yellow (?) cube. The origin of a cube in URDF is not at one of its corners, but in its centre.

If you place you base_link (or whatever the first link of your robot is called) at ground level, your robot should no longer be 'swimming'.

---

Originally posted by gvdhoorn with karma: 86574 on 2015-04-30

This answer was ACCEPTED on the original site

Post score: 0