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I'm working through the http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/Odom tutorial. I have the code running so it is publishing odometry info. I have also done the URDF_tutorial so I have a model of my robot that I can see in Rviz. If I run both of these at the same time should I see the robot running around in circles in Rviz? Is it not that simple or does Rviz not work that way?


Originally posted by ringo42 on ROS Answers with karma: 55 on 2011-07-27

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If you are publishing the transformation between your robot and the odometry, yes. So if your robot has the base called /base_link, your odometry should publish from /odom to /base_link and of course broadcast this transformation in tf.


Originally posted by martimorta with karma: 843 on 2011-07-27

This answer was ACCEPTED on the original site

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Original comments

Comment by ringo42 on 2011-07-27:
THanks, I got it . The trick was to change the Fixed Frame to odom, then it started moving.

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