Hi All
I'm running c turtle on ubuntu 10.4 i have a URDF with 4 parts and 3 
joints which displays fine in rviz
my  problem starts when i use tele_op to move the robot the base link 
stays fixed on the map / grid and the upper_base
head and base_laser move in sync with the tele_op commands. The upper 
body assy flashes between the base link and where it stopped
or it just drifts between the 2

rosrun tf tf_echo /map /base_link gives the following result

At time 1290598646.425
- Translation: [0.021, 0.000, 0.000]
- Rotation: in Quaternion [0.000, 0.000, -0.000, 1.000]
             in RPY [0.000, -0.000, -0.000]
At time 1290598647.426
- Translation: [0.021, 0.000, 0.000]
- Rotation: in Quaternion [0.000, 0.000, -0.000, 1.000]
             in RPY [0.000, -0.000, -0.000]
^CAt time 1290598647.726
- Translation: [0.018, 0.000, 0.000]
- Rotation: in Quaternion [0.000, 0.000, -0.000, 1.000]
             in RPY [0.000, -0.000, -0.000]

rosrun tf tf_echo /map /upper_base_link gives the following result
At time 1290598856.308
- Translation: [1.296, 0.004, 0.200]
- Rotation: in Quaternion [0.000, 0.000, -0.000, 1.000]
             in RPY [0.000, -0.000, -0.001]
At time 1290598857.308
- Translation: [1.395, 0.004, 0.200]
- Rotation: in Quaternion [0.000, 0.000, -0.000, 1.000]
             in RPY [0.000, -0.000, -0.001]
At time 1290598858.308
- Translation: [1.465, 0.004, 0.200]
- Rotation: in Quaternion [0.000, 0.000, -0.000, 1.000]
             in RPY [0.000, -0.000, -0.001]
At time 1290598859.308
- Translation: [0.050, 0.000, 0.200]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
             in RPY [0.000, -0.000, 0.000]
^CAt time 1290598859.508
- Translation: [5.699, 0.017, 0.200]
- Rotation: in Quaternion [0.000, 0.000, -0.002, 1.000]
             in RPY [0.000, -0.000, -0.004]
the robot has not move at all but Rviz was drifring

rviz fixed frame is /map
and target frame is <fixed frame>

I have change the reference frames but no improvment


regards Peter Heim