Questions tagged [tf]

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Laser Scan Fails When Robot Starts Running

I'm running the ROS navigation stack. Everything works well, the robot localises, the paths are generated and cmd_vel works, except for one key issue. Once a goal is set, the path is made and the ...
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0 answers
7 views

ERROR : rosrun rqt_tf_tree rqt_tf_tree

After using the Livox laser simulation plugin, I've encountered issues with TF generation. ...
0 votes
2 answers
178 views

how do i create a /map frame?

I have the following tf tree, but I'm missing the /map frame. Where does it come from? What is supposed to publish it?
3 votes
1 answer
30 views

Separate your tf tree to have crucial frames update at a high frequency

I'm calculating inverse kinematics for a low latency system but my robot's tf tree is so large, the time it takes to update the whole tf tree affects the calculation time significantly for my ...
0 votes
2 answers
30 views

Send sensor data to update rviz model

I'm completely new to ROS(2) and I want to make my Robot Model in RViz move depending on sensordata. I build my files according to a minimal working example from youtube and it allows me to visualize ...
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0 answers
12 views

rviz - how to pub /tf topic msg ( from /dynamic_joint_states)

I solved it. Just my mistake about urdf.xacro Thankyou I'm currently experiencing an issue where I'm not getting any output in /tf. I learned from a previous ...
0 votes
1 answer
33 views

ROS topics and Rviz not working for LiDAR gmapping (/map)

I have a Raspberry Pi 4B with Ubuntu 20.04 and ROS Noetic 1.16.0 and I'm trying to use Gmapping with the /map topping with my LiDAR (an EAI YDLIDAR X4 with its driver, I think Radar_Con_V1.3.5.). I ...
0 votes
3 answers
352 views

AttributeError: module 'xml' has no attribute 'parsers'

I try to visualize turtlebot2 urdf in ros2 humble by following the command ros2 launch urdf_tutorial display.launch.py model:=turtlebot2.urdf. I source my both ...
0 votes
1 answer
57 views

Inconsistent results from lookupTransform in tf

I'm performing AprilTag detection. I've calibrated my camera for the 'camera_link.' I want to obtain the world position of the detected tag (in this case, 'tag_0') using the following code. When I run ...
0 votes
1 answer
10 views

Possible wrong ussage of transformPoint method from tf

ROS VERSION: Melodic OS VERSION: Ubuntu 18.04 package tf version: 1.12.1 I'm trying to create a node that processes a PolygonStamped object and transform each point of it to a especified frame_id in ...
0 votes
1 answer
22 views

How to give Moveit! local orientation goal to my end effector, but global position?

As the title says, how to give a local orientation to my end effector, but global position? Basically this would mimic the goal orb in RVIZ, where you can drag it around to give global position, but ...
0 votes
1 answer
34 views

Which coordinate system should be used for local planning, odom or map?

I am designing a local planning system, and based on the suggestions provided on the ROS Wiki, it seems that the real-time reliability of the odom coordinate system is higher. Therefore, I have chosen ...
0 votes
1 answer
36 views

TF_OLD_DATA, issue with hector_mapping,

This is my gazebo launch file, and I launch it initially after which i Launch hectormapping in rviz, but it gets tf_old_data error Click here all the files are above this is my gazebo launch file, ...
0 votes
1 answer
172 views

"world" frame does not exist in tf tree when launching gazebo simulation

I'm trying to work with sjtu drone simulator (https://github.com/NovoG93/sjtu_drone). I'm using ROS2 humble, Gazebo 11. When I launch the program, using: ros2 launch sjtu_drone_bringup ...
0 votes
1 answer
90 views

Transform between odom and base_link not made. ros2_controller Ackermann Steering Controller

I cannot set odom as a fixed frame inside RViz. It doesn't show up at all. My robot is fully functional and visible in both Gazebo. I don't get any warnings, errors or exceptions in the log. I'm using ...
0 votes
1 answer
104 views

Transform failed during publishing of map_odom transform

i am trying publish tf and odom. my problem is that i always get this error: ...
0 votes
2 answers
39 views

How to remap tf publication of AMCL

I'm trying to perform Localization in outdoor and indoor situations, and I would like to remap the /tf publisher from AMCL node so I can redirect it to a mux where I could select which algorithm ...
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0 answers
26 views

questions about amcl and hector slam

My current urdf files have base_link and base_footprint as parents and child links , however i want to use amcl , i have another launch file for amcl which publishes the odom frame , but my urdf files ...
0 votes
2 answers
53 views

euler_from_quaternion error when rpy is 0 90 0

Hi I've got a problem with the function tf.euler_from_quaternion I've got an end-effector's orientation using moveit_commander and I want to convert quaternion to euler When quaternion value is 0 0 0 ...
0 votes
1 answer
176 views

Subscribe to geometry_msgs/TransformStamped (tf) Message with message_filters ApproximateTime subscriber

I am trying to use a message_filters::sync::ApproximateTime subscriber in a C++ node that must subscribe to 2 custom messages (which have a Header each), nav_msgs/OccupancyGrid Message, and a tf/...
0 votes
2 answers
62 views

ROS Noetic. How can I manage origin of coordinates for each STL model in Rviz?

I'm having troubles with model origin of coordinates location in relation to STL models. All ones are outside the models. I tried to move it to center of mass in SolidWorks, but it didn't fix the ...
0 votes
0 answers
57 views

Unable to publish odometry for Unitree A1 Quadruped Robot

I am working on Unitree A1 Quadruped Robot on ROS Melodic (Ubuntu 18.04). I have cloned the unitree_guide repository. When i run ...
0 votes
0 answers
46 views

ROS2 - a problem with tf frame in Rivz

i'm simulating auto docking algorithm using Apritag in ROS2, when robot detect apriltag the apriltag tf frame appear in tf rviz but after robot not detect apriltag, apriltag tf in rivz is still appear,...
0 votes
2 answers
116 views

Robot_state_publisher don't publish on /tf topic

I try to make a differential drives robot with 2 coder at my wheels and a lidar in front of the mobile base. Currently i can teleop it, i have a good odometry and the laser scan data come correctly to ...
1 vote
1 answer
325 views

RViz2 seems to have problems with dynamic TF when visualizing sensor data

I am simulating a quadrotor with a depth camera on Gazebo and I am trying to see the data published by the simulation on RViz2. The problem is that when I tried to visualize the point cloud of the ...
1 vote
0 answers
110 views

Transforming velocities form a local coordinate system to a global system

I'm using a radar system to get the state vector (x y vx vy ax ay) from a vehicle relative the ego vehicle and want to transform the other vehicle into a global coordinate system to run a tracking ...
0 votes
0 answers
229 views

ROS Transformation between two Coordinate Systems

I have a robot manipulator arm and a tracepen (3D tracked device). I can get data from the tracepen using tracepenPose, which gives me a ...
0 votes
1 answer
218 views

Python's all tf frames function in ROS2 only returns some frames

Spining off of 347857#comment that seems ROS1 code, I tried to get all tf frames in Python but the following quick dirty code goes into "No frames" else block, while I verified that tf ...