[ros-users] rviz / tf fixed frame problem

[Ugo Cupcic]

Hi,

In fact it was a problem of timestamp: I published my data without 
setting the timestamp whereas the fixed frame was published with a 
correct timestamp. It's now fixed.

Thanks for your suggestions.

Cheers,


Ugo

On 09/06/10 18:20, Ivan Dryanovski wrote:
> Ugo,
>
> Have you tried running this?
>
> rosrun tf view_frames
> evince frames.pdf
>
> Also, (and this might not be the source of the problem), but make sure
> that all your frames have only a single parent. That is if you publish
> transforms like
>
> fixed ->  /srh/position/shadow_forearm
> srh/position/lfdistal ->   /srh/position/shadow_forearm
>
> Both of these would work idividually, but publishing them together
> will cause a problem
>
> Ivan Dryanovski
>
>
> On Wed, Jun 9, 2010 at 12:51 PM, Ugo Cupcic<ugo at shadowrobot.com>  wrote:
>    
>> Hi,
>>
>> I'm having some problem displaying some /tf in rviz. I'm working on
>> displaying a hand in rviz.
>>
>> Here is the situation:
>> I have a robot_state_publisher transforming joint_datas to tf, and I can
>> view the model in rviz, using a frame published by the
>> robot_state_publisher (/srh/position/shadow_forearm). This works fine, I
>> see my whole hand, I can move the fingers, etc...
>>
>> I'm then publishing a fixed transform:<node pkg="tf"
>> type="static_transform_publisher" name="fixed_frame_pos_pub" args="0 0 0
>> 0 0 0 fixed  /srh/position/shadow_forearm 20" />  which transforms the
>> /srh/position/shadow_forearm to /fixed. This fixed transform is published.
>> When I view this new /tf in rviz, the forearm goes to /fixed frame which
>> is fine, but I get errors for all the other joints saying "No transform
>> from [srh/position/lfdistal] to [/fixed]". The other joints are then not
>> displayed (no transform).
>>
>> However, the transform from shadow_forearm to fixed is published and the
>> transform from the rest of the joints to shadow_forearm are published as
>> well.
>>
>> Any ideas ?
>>
>> (I hope I was clear :S)
>>
>> Cheers,
>>
>> Ugo
>>
>> --
>> Ugo Cupcic         |  Shadow Robot Company | ugo at shadowrobot.com
>> Software Engineer      251 Liverpool Road
>> need a Hand?           London  N1 1LX       | +44 20 7700 2487
>> http://www.shadowrobot.com/hand/              @shadowrobot
>>
>>
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-- 
Ugo Cupcic         |  Shadow Robot Company | ugo at shadowrobot.com
Software Engineer      251 Liverpool Road
need a Hand?           London  N1 1LX       | +44 20 7700 2487
http://www.shadowrobot.com/hand/              @shadowrobot