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Hello,

I am sorry for being naive. I have GPS sensor information from a moving car. I have URDF model of a robot with four wheels. All joints are fixed (wheel to base_link). I want to move the robot in rviz according to GPS data. I am able to broadcast tf trasnform following this :Link

I have gone through these tutorials but all using joint_state_publisher. Any help would be appreciated.


Originally posted by tonyParker on ROS Answers with karma: 377 on 2017-10-27

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Comment by l4ncelot on 2017-10-28:
Maybe this will help.

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I found the answer.

In this case, no moving joint is needed. We just need tf trasnform from base_link to fixed frame (odom). Just broadcast tf transform and set the header frame id to base_link.


Originally posted by tonyParker with karma: 377 on 2017-11-04

This answer was ACCEPTED on the original site

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