[ros-users] How to connect the transform between /robot_base and /map ? (Ming Liu)
eitan at willowgarage.com
Fri May 14 17:39:29 UTC 2010
In addition to setting the "robot_base_frame" and "global_frame" on the
global._costmap, you'll also need to set it on the local_costmap which is
used for obstacle avoidance and often operates in a different frame from the
local map. The local_costmap is probably the one giving the error message
Please see the following page for an explanation of configuring the two
costmaps used by the navigation stack:
Hope all is well,
On Fri, May 14, 2010 at 2:36 AM, 刘明 <liu.ming.prc at gmail.com> wrote:
> Hi everyone,
> Thanks for you kind and prompt replies.
> But the move_base is still asking for a frame with frame_id /base_link
> (output in rxconsole):
>> Waiting on transform from base_link to /map to become available before
>> running costmap, tf error: Frame id /base_link does not exist!
> when I launch the launch-file as below, where of course I have corrected
> the naive spelling mistake @-| , as:
>> <param name="global_costmap/robot_base_frame"
>> <param name="global_costmap/global_frame" value="/world"/>
>> <node name="move_base" pkg="move_base" type="move_base"
> We had a transformation .yaml before, which I forgot to mention.
> The result of
>> $ rosrun tf view_frames
>> $ evince frames.pdf
>> showed that the frames are correctly linked.
> The result of
>> $rosrun tf tf_echo /robot_base /world
> returns correct transformation when I move the robot around.
> I also output the parameters got by "move_base" node, by adding:
>> ROS_INFO("FrameIDs: %s %s", robot_base_frame_.c_str(),
> to move_base.cpp:66. The output from the rxconsole is FrameIDs:
> /robot_base /world which is correct.
> It sounds like the parameters are not correctly passed to the costmap or
> else nodes. Any other hints?
> Best regards,
> ros-users mailing list
> ros-users at code.ros.org
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