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Questions tagged [frames]

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Rotation matrix to Twist command

I want to implement the J+RRT algorithm for which I need to use the Twist command to navigate the robot in Euclidean space. First I calculate the difference in rotation matrices from the end-effector ...
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Switching between 2 cameras (using opencv)

I have a manipulator in ROS and 2 cameras attached on it. I want to switch the frames of cameras every 5 seconds Both cameras work fine. I do not want to close the window and reopen it (if it is ...
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Seeking clarity regarding frame of reference in which robot velocities are provided

I have a very simple doubt. I have a robot with a body frame B attached very rigidly to it. I have a world frame W attached ...
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1 answer
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Odom and map frame reparenting issue with robot_localization

I am trying to develop the odometry for a driverless vehicle and I am using the robot_localization package. The odometry itself seems to be working, though when i run it in the simulator there is a ...
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1 answer
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nav2_planner not working

I am correctly running rviz2, nav2_map_server and correctly visualizing the map. I want now to use a nav2_planner to see the path built. However it happens that when I run the node and activate it ...
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1 answer
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Hokuyo doesn't publish a frame,Error: Ingoring transform for child_frame_id "laser_2"

I am using Ubuntu 16.04 and ROS Kinetic. I am trying to visualize two lidar data on rviz at the same time. I connected to the lidars by using following launch file. ...
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1 answer
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global costmap is not centered

I am running the move_base node with dynamic global_cosmap. here is global_costmap_params.yaml file: and costmap_common_params.yaml: and this is how global costmap looks like in rviz: you see, ...
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1 answer
52 views

Mapping with Zed Camera

Hi, i want to use our Stereolabs Zed Cam to get a map in Rviz. I set up zed-wrapper (and SDK and Cuda) successfully and startet the zed.launch file to get image data. The data is broadcasted to its ...
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1 answer
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Different outcome for the same quaternion between geometry_msgs::Pose and tf::Transform

Here is the code I am using to broadcast a transform and publish the path of the same transform. ...
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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 ...
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1 answer
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TF - Transform world frame update rate should be fastest

Hey there, I am basically doing a transformation from camera_link to world frame Here is the message before the transformation in [camera_link] frame: ...
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1 answer
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RViz error:Transform [sender=unknown_publisher] - For frame [X]: Frame [X] does not exist

[ROS Kinetic, Ubuntu 16.04] Hello, I have a problem with sensor frames in rviz. I have created a static trasform broadcaster that publishes all static transforms of my robot (did it according to http:/...
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1 answer
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URDF model frames not published properly by robot_state_publisher

Hi. I'm struggling with getting a URDF (or XACRO file to be exact) working with the robot_state_publisher. I know that it has been working when I made the file originally, but after updating and ...
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1 answer
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4 frame positioned relative to each other

Hi! Recently, I have started to play in ROS and now I am trying to display 4 frames in RVIZ without success. The problem is that, the frames should be positioned relative to each other and me, with my ...
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1 answer
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frames not shown using view_frame node but in RViz

Hi, I am simulating mobile robot in Gazebo and visulizing in RViz. I have attached camera and laser links and corresponding Gazebo plugins and can successfully see them in RViz and Gazebo. I can see ...
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1 answer
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How to track frames from tf in ROS

I am a beginner in using ROS. I am trying to track some frames that are published as a set of transform but I do not know how to do this. I would like to ask if anyone that knows how to track frames ...
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1 answer
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Rviz | tf | scan - (No transform to fixed base)

Hello all, I'm facing issues with scan data visualization on rviz. The following pictures show the problem: image 1 image 2 As we can see from image 1, the transformation between the laser and ...
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2 answers
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Changing tf_prefix for turtlebot

I know that similar questions were already asked here but I still haven't found an answer to my question. I would like to create a system of several turtlebots with different names (e.g. "pinky&...
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1 answer
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camera_calibration - override enough data check

Hi everybody, I'd like to calibrate a stereo rig with the camera_calibration stereo node. I have a set of pre-recorded images that I publish using a simple ad-hoc player node and with some datasets it ...
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1 answer
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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 ...
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1 answer
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Which is each frame?

I have a frame tree in which I have /odom and /map frames. My EKF publishes in /odom frame. My AMCL algorithm (I think) creates a transformation between /odom and /map frames. Gazebo gives me the ...
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1 answer
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Difference between two transform broadcasters

What is the difference between the following transform broadcasters in a multi-robot simulation: ...
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1 answer
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Frames and rviz visualization

I have the following frame transformation chain: laser_frame -> base_link -> base_stabilized -> base_footprint -> odom -> map -> world Where laser_frame is where the scans are ...
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1 answer
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openni.launch creates a different frames tree for the Kinect

I am using openni pkg on a PR2 that has a kinect sensor attached and running goovy. I need to be able to transform between the camera frame and the PR2 links. When I launch openni : ...
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1 answer
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how to create world frame!

Hi all, I've worked on simulated husky with simulated kinect to create a customize 3d occupancy map, i want to transform the pointcloud frame to map or world frame, but i don't have these frames, just ...
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1 answer
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Converting yaw between frames

Hi all, I have a query regarding converting yaw between frames. The velocity commands (linear and angular) received from the base local planner are in term of robot's frame. Let says that I want to ...
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1 answer
12 views

converting optical frame to base frame tf

I'm trying to transform an optical frame -> x=right, y=down, z=forward to a base frame with the orientation -> x=forward, y=left, z=up. I attempted to try the translation in a tf broadcaster, ...
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1 answer
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Rviz: Howto set radius of TF frame axes? (not Axis axes)

Hi all, If you add an "Axes" to Rviz, it's possible to set the length and radius of the RGB-colored axis. Hower, if you add "TF" frames, you can only edit the marker scale (...
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1 answer
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Frame id /generic_camera_link, with Kinect

Hello, I'm using tf to transform Point Cloud coords which I receive from kinect (image coords) to real world (gazebo coords). First of all, I had to create a publisher for the /world frame, because ...
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1 answer
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Hector_slam and frames ?!!! I'm lost

Hi all. I have a wheeled robot that provide odometry, ahrs and a laser. I'm trying to use hector_slam but I don't understand the frame and transform system. My base robot package provide an "/...
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2 answers
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slam_gmapping Registering First Scan problem

(I'm using a custom made robot having wheel encoders and Kinect, and want to implement slam_gmapping) I have the following /tf set up for my robot: http://img826.imageshack.us/img826/7405/...
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