Hi Peter,
Can you test what roswtf outputs?  As well as tf_monitor.  There's a guide
to troubleshooting tf issues here http://www.ros.org/wiki/tf/Troubleshooting

Based on your description I would guess that you have two publishers sending
conflicting information for the position of the base.  The easiest way to
check this is to simply rostopic echo /tf and make sure there aren't two
copies of anything.

Tully

On Wed, Nov 24, 2010 at 3:48 AM, Peter Heim <peter_heim@optusnet.com.au>wrote:

> 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
>
>
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>



-- 
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote@willowgarage.com
(650) 475-2827