Questions tagged [base-link]

The tag has no usage guidance.

Filter by
Sorted by
Tagged with
0 votes
1 answer
7 views

base_link not moving while replaying rosbag file in RViz

I recorded a rosbag file with the following topics: /ssl_slam/trajectory; /tf; /odom; /initialpose; /move_base_simple/goal; /tf_static; My goal is to replay the rosbag file in RViz and see the "...
user avatar
0 votes
1 answer
13 views

URDF model spawns with no link

Hey, so i've been making a package for a competition and made a custom model for an arena in Blender exported the .dae file for working in with ROS Melodic + Gazebo 9. But the model spawns ...
user avatar
0 votes
1 answer
1 view

Can a frame be both parent_id and child_id?

I'm using odom as parent_id for base_link and child_frame_id for map tf in the respective launch files. Will it cause any issues in my tf tree? Originally posted by sajal on ROS Answers with karma: ...
user avatar
0 votes
1 answer
13 views

Change base_link position

How do we change the base_link coordinate centre on autoware? Is there a default one that it automatically uses? If so where is it positioned? Originally posted by melanielim on ROS Answers with ...
user avatar
0 votes
1 answer
8 views

rviz - only base_link works

Hello Everyone! At first, sorry for my English :( I`ve got a problem. I'm beginner at ROS (melody, ubuntu 18.04). I learing how to do a URDF file, i'm using this tutorial: https://www.youtube.com/...
user avatar
0 votes
1 answer
15 views

How do we initialize a "base_link" frame

When we run roslaunch turtlebot_bringup minimal.launch, and look at rosrun tf viewframes, we get many frames which includes "base_link". Now I am trying a new setup that does not include the ...
user avatar
0 votes
1 answer
78 views

base_link vs base_footprint

I have read that the navigation stacking within ROS requires the use of base_footprint. What is the difference between base_link and base_footprint? How do I know which I should use? Originally ...
user avatar
0 votes
1 answer
3 views

What is odom_frame ever used for?

I understand that odom_frame is only locally accurate, and that the transformation map -> odom -> base_link is what provides accurate pose information if it is ever needed. However, map -> ...
user avatar
0 votes
1 answer
12 views

Fixing TF between base_link and odom

Hey , i am in the process of porting my robot from simulation to real world . Finished URDF (robot_description) , which publishes the tf Finished with the most essential stack such as robot_nav , ...
user avatar
0 votes
1 answer
24 views

How does robot_localization finds tf between odom and base_link?

Hello Is there any documnetation that describes how the relation between odom frame and based_link frame is calculated? It seems that some sort of self-calibration is happening there Edit 1: In ...
user avatar
0 votes
1 answer
2 views

When using navsat_transform_node, isn't it a problem to use IMU yaw to compute transform between map and base_link?

Hello, In this video from Tom Moore at time 12:36, I can see that he sets IMU yaw to true. The consequence of this is that as soon as the robot is started, there is an non zero angle between base_link ...
user avatar
0 votes
1 answer
16 views

Could not obtain transform from /gps to base_link

After rosrun ekf_localization_node and navsat_transform_node, I got warning like this: [ WARN] [1494926574.013925839]: Could not obtain transform from /gps to base_link. Error was Invalid argument &...
user avatar
0 votes
1 answer
13 views

How to drive robot in opposite direction

Hi all, I have a robotic research platform with caster wheels on the front and drive wheels at the back. At the moment it's driving with caster wheels at the front but I feel the dynamics could be ...
user avatar
0 votes
1 answer
3 views

Turtlebot Create2 base_link location

According to REP 105, base_link should be in the center of rotation of the base, in this case a iRobot Create 2. What I can't figure out is where it is vertically. ...
user avatar
0 votes
1 answer
30 views

How to change the position of "base_link" frame?

For navigation, the base_link should be placed at the rotational center of the robot. My robot is a rectangular shaped robot, whose rotation center is at the front. How do I change the location of &...
user avatar
0 votes
1 answer
6 views

Whats the difference between base_frame and base_link?

So I am trying to map a model(urdf) to my hector slam project which seems to have base_frame. I don't have any base_link? rosrun tf tf_echo /map /base_link ...
user avatar
0 votes
1 answer
24 views

Do the /odom topic and odom->base_link tf provide duplicate information?

I'm making a differential-drive rover with wheel encoders and planar LIDAR, but at the moment no other sensors. I understand why it's useful to have separate map ...
user avatar
0 votes
1 answer
9 views

How to verify odom --> base_link is accurate or not?

I'm using AMCL and when I specify a goal to navigation, the pose of my robot drift.While AMCL need odom --> base_link tf and laserscan data,so how can I verify <...
user avatar
0 votes
1 answer
8 views

robot_localization publishing to tf incorrectly

I have left the robot_localization odom_frame parameter with value "odom" and base_link_frame to "base_link" defaults. The tf tree, while running robot_localization and the robot ...
user avatar
0 votes
1 answer
5 views

error while building 2d map

hi i am trying to build 2d map i go just part of the map and git in the axis error that say in rviz: Transform For frame [base_link]: No transform to fixed frame [map]. TF error: [Could not find a ...
user avatar
0 votes
3 answers
37 views

Confused about coordinate frames. Can someone please explain?

I've read: http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom http://www.ros.org/reps/rep-0105.html http://ros.org/wiki/tf http://wiki.ros.org/tf/Design However I'm still quite confused about ...
user avatar
0 votes
1 answer
5 views

Error in amcl node while configuring navigation stack simulation

I have configured the navigation stack to a mobile robot model. When i tried to launch the below file got a following error. I am sure the error is with amcl node because i checked other nodes, launch ...
user avatar
0 votes
1 answer
4 views

Tf origin is away from the base_link

I have built my differential drive mobile robot in solidworks and converted that to URDF file using soliworks2urdf convertor. I successfully launched and robot and simulated with tele-operation node. ...
user avatar
0 votes
1 answer
16 views

offset between base_link and base_footprint

hello friends. I am using laser_scan_matcher and robot_pose_ekf. everything is good. But there is a offset always between base_link and base_footprint in rviz display. you think is that normal or is ...
user avatar
0 votes
1 answer
8 views

specifying base_link frame for the Transformation tree

Hi all, The base_link frame of my robot is 16 cm above the ground (or base_footprint frame) and laser frame is 8 cm above the base_link frame and I have specified all the transformations with respect ...
user avatar
0 votes
2 answers
12 views

hector slam problem

I want to create a map only with my Laserscanner SICK TIM551. So I started my laserscanner and hector slam with roslaunch hector_mapping sick_mapping.launch I noticed this warning lookupTransform ...
user avatar
0 votes
1 answer
1 view

urdf in rviz is too deep

Hi, I setup my robot system and its working good. I am using hector mapping with urdf and a laserscanner and I am getting the following result: I dont know why exactly the robot is kind of swimming ...
user avatar
0 votes
1 answer
18 views

Base_link frame is not connected to odom frame

hello, I'm using Ubuntu 14.04 and ROS Indigo I used the following block of code to publish the transformation of base_link frame and odom frame: ...
user avatar
0 votes
1 answer
6 views

Robot model in rviz is not following base link

Hi, I am using Gazebo with a simulated model with GPS, IMU and Odometry from the diff drive including the navsat and the ukf node, the estimation is not correct yet, but I wonder about something else: ...
user avatar
0 votes
1 answer
13 views

Odom Axes not in line with base_link

Hi, I am using Powerbot to be able to build a map using gmapping algorithm. To setup my robot, I am using the ROSARIA package to be able to have control on the motors, get pose estimates from odometry ...
user avatar
0 votes
1 answer
10 views

RViz - RobotModel -> base_link -> 'show trail' history

I'm trying to display the trail of my robot in RViz. I know that it's possible by publishing a visualization_msgs/Marker something like in this tutorial: Markers: Points and Lines (C++). However, at ...
user avatar
0 votes
1 answer
9 views

more than one odom->base_link transform

Hello, I am using rtabmap rgbd_odometry node and data from IMU feeded to robot_pose_ekf node. This gives me stable odometry. This stable odometry data publishes a odom->base_link transform. Apart ...
user avatar
0 votes
2 answers
3 views

changing the dimention of the base link moved the robot upward from the ground

I have a mobile robot "husky" I have the following things in a urdf file: ...
user avatar
0 votes
1 answer
24 views

Where do I put base_footprint?

So I have a urdf for my robot, with the tree root as base_link. However, I am using robot_pose_ekf, which has a hard-coded ...
user avatar
0 votes
1 answer
14 views

static_transform_publisher base_link base_laser

hi everyone Is this line enough in order to use tf package for set a fixed relation between base_link and base_laser frames in my launch file? ...
user avatar
0 votes
1 answer
2 views

laser_frame not moving

I have the following scheme in simulation enviroment with Gazebo and Rviz: laser_frame -> base_link -> base_stabilized -> base_footprint -> odom -> map -> world laser_frame to ...
user avatar
0 votes
4 answers
3 views

[Hydro] Error in move_base.launch rviz

I succed finally to launch my move_base.launch file. And when with rviz I tried to tell where the robot is in the map, with the 2d Pose Estime, i got this message : ...
user avatar
0 votes
1 answer
5 views

[Groovy] How to link /scan to base_link?

When I launch my move_base.launch, ( http://wiki.ros.org/navigation/Tutorials/RobotSetup) , I got this error : ...
user avatar
0 votes
1 answer
1 view

which frame I should use?

I used laser_geometry tutorial and I have this code: ...
user avatar
0 votes
1 answer
18 views

/tf from /base_link to /camera_link

Hi, I'm using ccny_rgbd_tools which gives me a transform between /camera_link, which is the base_frame, and /odom, which is the fixed_frame. I'm using MoveIt!, where I have a urdf model which as a ...
user avatar
0 votes
1 answer
1 view

Laser -> point cloud, tf drop all packages

hi, all, I am super new to ROS. I am trying to use tf to transform the laser input to tf base_link frame. But I am constantly getting error msg like "MessageFilter [target=base_link ]: Dropped ...
user avatar
0 votes
1 answer
16 views

rosrun tf tf_echo /map /base_link VS. Coding implementation

Hi, I want to calculate robot's current position with respect to the map. Following is my "rosrun tf view_frames" tf tree I have tried following commands which gives robot position with ...
user avatar
0 votes
1 answer
18 views

How to publish transform from odom to base_link?

I have a Recorded rosbag file which contains Laserscan data (LMS100) linked to base_link. I trying to use amcl and localize the robot in the map, but amcl needs odom->baselink so that it can ...
user avatar
0 votes
1 answer
2 views

Stageros: cannot change z coordinate of base_link → base_laser tf

Hello all, for any reason I cannot put the laser of my robot at its real height in the Stage-simulated version. The maximum z I get is 0.15 m! No idea why. I have tried to resize the robot model, to ...
user avatar
0 votes
1 answer
2 views

TF Error while running AMCL (turtlebot). Waiting on transform from /base_link to /map to become available before running costmap

Hi, I have a world in gazebo(fuerte) with turtlebot in it and I have the map of the world too. After launching the world, when I try to launch the launch file described below, I get this warning: <...
user avatar
0 votes
1 answer
9 views

Finding a frame pose given pose (calculated) of another frame

Hello everyone, I am publishing r_gripper_pick_pose as, say, : <node name="btw_bl_rpp" pkg="tf" type="static_transform_publisher" args= "3 1 8 0 0 0 1 base_link ...
user avatar
0 votes
1 answer
2 views

help with hector_exploration and hector_mapping

Hi, I am trying to run hector_exploration_node and hector_mapping. First, I launch the pointcloud_to_laserscan (I am using a kinect and getting laser scan data from pointcloud_to_laserscan), then I ...
user avatar
0 votes
1 answer
4 views

Error in display of Pointcloud in /base_link frame

I tried to view a pointcloud2 message in rviz in /base_link frame. So i wrote a static transform publisher which published a tf base_link->camera_link. The pointcloud2 can be successfully viewed ...
user avatar
0 votes
1 answer
8 views

transform base_link<->map not available, but both base_link<->odom and odom<->map are available (???)

Hi, I'm using stage and slam_gmapping. Frame hierarchy is: /map->/odom->/base_footprint->/base_link->/base_laser_link. I need to do some operations with ...
user avatar
0 votes
1 answer
6 views

Problem with navigation stack

Hi I'm using the navigation stack to move my robot. I defined the tf between /map and /odom and the tf between /odom and /base_link so my tf tree respects the ROS convention. But when I launch ...
user avatar