Hi,
thanks for the reply. Gmapping is configured with
i'm launching this configuration:
where slam_gmapping.xml is:
sometimes (quite rarely) the transform is received correctly.
Thanks very much,
Michal
> Perhaps gmapping is configured with odom_frame == base_footprint?
>
> brian.
>
> On Fri, Jun 25, 2010 at 10:32 AM, Wim Meeussen
> wrote:
>> Michal,
>>
>>> RESULTS: for /map to /base_footprint
>>> Chain is: /map -> /base_footprint -> /odom_combined
>>> Net delay avg = 0.020768: max = 0.064
>>
>> [...]
>>
>>> the only weird thing is, that in rviz the transform arrows shows like
>>> this: /base_footprint -> /odom_combined -> /map
>>> might this be a sign of some problem?
>>
>> Yes, This is most likely your problem. It appears that you have a tf
>> publisher from map to base_footprint, and another publisher from
>> odom_combined to base_footprint. So the base_footprint frame has two
>> parents. In our setup we have amcl publish the transform from map to
>> odom combined, and the robot pose ekf publish the transform from
>> odom_combined to base_footprint. What setup are you running? Did you
>> reconfigure amcl to publish a different tf transform?
>>
>> Wim
>>
>>
>>
>>
>>
>> --
>> Wim Meeussen
>> Willow Garage Inc.
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