Mobile robot moving around static known map. Map was built with hector SLAM.
Is that the right order for the frame tree?
Do I need the base_footprint?
Fixed fram Odom Tree --> odom --> base_link --> laser --> map
Originally posted by karimemara17 on ROS Answers with karma: 23 on 2018-11-20
Post score: 0
You should have a look at the different REP related to frames : REP 103, REP 105 and REP 120.
The standard tf tree in your case looks like : map -> odom -> base_link -> laser. Map should be at the top of the tf tree since it's the world frame.
It's not required to have the base_footprint, it's just the base_link frame with z=0, you are free to create it or not.
Originally posted by Delb with karma: 3907 on 2018-11-21
This answer was ACCEPTED on the original site
Post score: 1
Comment by karimemara17 on 2018-11-21:
And in RVIZ the map should be the fixed frame? So when I estimate the pose and give it the goal it be on the map right?
I will take a look at the different REP and will update the question. Thank you for help!
Comment by Delb on 2018-11-21:
The fixed frame is mostly for visualization purpose you could even set it on a wheel (eventhough it's stupid).
Do you talk about 2D pose estimate and 2D nav goal in rviz ? If so then it will be according to the fixed frame of rviz, that's why it's better to set map as the fixed frame.
Comment by Delb on 2018-11-21:
If not then it's up to you to define the reference frame_id when giving a goal (which sould be map).
Comment by karimemara17 on 2018-11-21:
Yes it I was talking about the 2D pose estimate and 2D nav goal in rviz. I did all that and set the frames in the order you suggested and it still doesn't want to move. It does this when estimating the 2D pose
(https://drive.google.com/file/d/1AKhtZoMIMrkTengJJV6RVGA-c4bFaosM/view?usp=sharing))
Comment by karimemara17 on 2018-11-21:
Also I should mention that I'm running rviz and navigation stake on a pc while the lidar and the base are on Raspberry Pi over network.
I also tried roswtf and I gave me an error something like ERROR The following nodes should be connected but aren't GlobalCostmapFootprint --> localCM footprint
Comment by Delb on 2018-11-22:
The behavior in your video is very strange, I would suggest you to create a new question for this describing everything you do that result to this (the move_base config, the launch files and the commands you run for example).
Comment by karimemara17 on 2018-11-22:
Thank you again, and yes I just posted the question: https://answers.ros.org/question/309152/strange-behavior-between-move_base-navigation-stack-and-rviz/
