Hi Peter, <br>Can you test what roswtf outputs?  As well as tf_monitor.  There&#39;s a guide to troubleshooting tf issues here <a href="http://www.ros.org/wiki/tf/Troubleshooting">http://www.ros.org/wiki/tf/Troubleshooting</a><br>

<br>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&#39;t two copies of anything.  <br>

<br>Tully<br><br><div class="gmail_quote">On Wed, Nov 24, 2010 at 3:48 AM, Peter Heim <span dir="ltr">&lt;<a href="mailto:peter_heim@optusnet.com.au">peter_heim@optusnet.com.au</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">

Hi All<br>
I&#39;m running c turtle on ubuntu 10.4 i have a URDF with 4 parts and 3<br>
joints which displays fine in rviz<br>
my  problem starts when i use tele_op to move the robot the base link<br>
stays fixed on the map / grid and the upper_base<br>
head and base_laser move in sync with the tele_op commands. The upper<br>
body assy flashes between the base link and where it stopped<br>
or it just drifts between the 2<br>
<br>
rosrun tf tf_echo /map /base_link gives the following result<br>
<br>
At time 1290598646.425<br>
- Translation: [0.021, 0.000, 0.000]<br>
- Rotation: in Quaternion [0.000, 0.000, -0.000, 1.000]<br>
             in RPY [0.000, -0.000, -0.000]<br>
At time 1290598647.426<br>
- Translation: [0.021, 0.000, 0.000]<br>
- Rotation: in Quaternion [0.000, 0.000, -0.000, 1.000]<br>
             in RPY [0.000, -0.000, -0.000]<br>
^CAt time 1290598647.726<br>
- Translation: [0.018, 0.000, 0.000]<br>
- Rotation: in Quaternion [0.000, 0.000, -0.000, 1.000]<br>
             in RPY [0.000, -0.000, -0.000]<br>
<br>
rosrun tf tf_echo /map /upper_base_link gives the following result<br>
At time 1290598856.308<br>
- Translation: [1.296, 0.004, 0.200]<br>
- Rotation: in Quaternion [0.000, 0.000, -0.000, 1.000]<br>
             in RPY [0.000, -0.000, -0.001]<br>
At time 1290598857.308<br>
- Translation: [1.395, 0.004, 0.200]<br>
- Rotation: in Quaternion [0.000, 0.000, -0.000, 1.000]<br>
             in RPY [0.000, -0.000, -0.001]<br>
At time 1290598858.308<br>
- Translation: [1.465, 0.004, 0.200]<br>
- Rotation: in Quaternion [0.000, 0.000, -0.000, 1.000]<br>
             in RPY [0.000, -0.000, -0.001]<br>
At time 1290598859.308<br>
- Translation: [0.050, 0.000, 0.200]<br>
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]<br>
             in RPY [0.000, -0.000, 0.000]<br>
^CAt time 1290598859.508<br>
- Translation: [5.699, 0.017, 0.200]<br>
- Rotation: in Quaternion [0.000, 0.000, -0.002, 1.000]<br>
             in RPY [0.000, -0.000, -0.004]<br>
the robot has not move at all but Rviz was drifring<br>
<br>
rviz fixed frame is /map<br>
and target frame is &lt;fixed frame&gt;<br>
<br>
I have change the reference frames but no improvment<br>
<br>
<br>
regards Peter Heim<br>
<br>
<br>
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</blockquote></div><br><br clear="all"><br>-- <br>Tully Foote<br>Systems Engineer<br>Willow Garage, Inc.<br><a href="mailto:tfoote@willowgarage.com">tfoote@willowgarage.com</a><br>(650) 475-2827<br>