[ros-users] Rviz and URDF split

[peter heim]

On 25/11/2010 2:27 AM, Tully Foote wrote:
> 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 at optusnet.com.au <mailto:peter_heim at 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 at willowgarage.com <mailto:tfoote at willowgarage.com>
> (650) 475-2827
>
>
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Hi Tully
thanks for that
i had 2 publishers  now it works

peter
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