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Hey , i am in the process of porting my robot from simulation to real world .

  1. Finished URDF (robot_description) , which publishes the tf
  2. Finished with the most essential stack such as robot_nav , robot_viz , robot_movebase

My Real Robot can now listen to cmd_vel and will responds correctly to it . I have written a script which accepts cmd_vel and publishes odom .

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As you can see above the tf between odom and base_link is not yet published , what could be the reason for the same ?

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"header: seq: 40 stamp: secs: 1517994494 nsecs: 929254055 frame_id: odom child_frame_id: base_link ...."

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As you can see the child_frame_id of the odom topic is base_link .


Originally posted by chris_sunny on ROS Answers with karma: 47 on 2018-02-07

Post score: 0

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1 Answer 1

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It is not sufficient, to publish this as an odometry Topic. You Need to use a tf broadcaster to send the actual transformation via the tf tree.


Originally posted by mgruhler with karma: 12390 on 2018-02-07

This answer was ACCEPTED on the original site

Post score: 1


Original comments

Comment by chris_sunny on 2018-02-07:
https://answers.ros.org/question/281781/ros-python-script-for-kangaroo-x2-sabertooth-2x32-configuration-accepts-cmd_vel-and-publishes-odom/ The python script which publishes odom is listed here , please check it out . I believe i am using the tf_broadcaster ,let me know if i missed anything.

Comment by mgruhler on 2018-02-07:
Looks okay on a first glance. Do you see this transform in the tf message?

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