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how are you all doing?

I've been trying to use the ros humble robot_localization package to estimate my robot's pose using odometry and imu data. The thing is, when the fixed frame is the base_footprint all the robot's TF are parsed ok.

enter image description here

When I set my odom frame as the fixed frame some of my transformations break.

enter image description here

But if I look at the broadcasted frames the tf tree seems normal.

enter image description here

Although it isn´t something critical to me, it is bothering me a lot.

Thanks in advance.

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1 Answer 1

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Your /tf timestamp values are not consistent. Most likely you have some nodes with use_sim_time parameter set to true, and other nodes with it set to false.

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  • $\begingroup$ It worked! Thank you very much! $\endgroup$
    – amsantos
    Jan 19 at 18:36

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