Questions tagged [frames]
The frames tag has no usage guidance.
33
questions
1
vote
1
answer
26
views
TF2 Question about frame conversion
I modeled the following robot with an urdf file. Thanks to a robot state publisher, i have access to the static tfs between camera_link and base_link.
I'm using orb_slam3 library as SLAM algorithm. ...
2
votes
1
answer
50
views
Incorrect coordinate system for robot model in Rviz2 when launching urdf
I was able to launch my robot model in rviz2 - however I used the Solidworks to URDF exporter to generate my urdf file which I have found to be very unstable. For this reason I just let it use ...
0
votes
2
answers
90
views
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 ...
- 3
1
vote
2
answers
215
views
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 ...
- 11
0
votes
1
answer
15
views
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 ...
electrophod
0
votes
1
answer
11
views
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 ...
Athanasakart
0
votes
1
answer
32
views
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 ...
lorenzo
0
votes
1
answer
13
views
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.
...
wallybeam
0
votes
1
answer
8
views
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, ...
june2473
0
votes
1
answer
59
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 ...
vonunwerth
0
votes
1
answer
3
views
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.
...
Albtech
0
votes
1
answer
20
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 ...
Kolohe113
0
votes
1
answer
4
views
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:
...
Markus
0
votes
1
answer
65
views
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:/...
rayvburn
0
votes
1
answer
6
views
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 ...
mindthomas
0
votes
1
answer
4
views
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 ...
Ervin
0
votes
1
answer
25
views
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 ...
anirban
0
votes
1
answer
16
views
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 ...
Glass_Eater
0
votes
1
answer
18
views
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 ...
Randerson
0
votes
2
answers
11
views
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&...
David_Zizu
0
votes
1
answer
1
view
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 ...
Augusto Luis Ballardini
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 ...
felixwatzlawik
0
votes
1
answer
10
views
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 ...
arenillas
0
votes
1
answer
6
views
Difference between two transform broadcasters
What is the difference between the following transform broadcasters in a multi-robot simulation:
...
Hemu
0
votes
1
answer
1
view
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
...
Chipiron
0
votes
1
answer
2
views
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 :
...
rleontie
0
votes
1
answer
2
views
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 ...
VahidD
0
votes
1
answer
9
views
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 ...
ChengXiang
0
votes
1
answer
17
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, ...
ee.cornwell
0
votes
1
answer
33
views
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 (...
dbworth
0
votes
1
answer
4
views
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 ...
webrot
0
votes
1
answer
51
views
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 "/...
psykokwak
0
votes
2
answers
23
views
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/...
kshitij