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On 25/11/2010 2:27 AM, Tully Foote wrote:
<blockquote
cite="mid:AANLkTikBUVppz4LptOb_1XNpHs2gmFFLDP_=BYDF+9Ov@mail.gmail.com"
type="cite">Hi Peter, <br>
Can you test what roswtf outputs? As well as tf_monitor. There's
a guide to troubleshooting tf issues here <a
moz-do-not-send="true"
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'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"><<a moz-do-not-send="true"
href="mailto:peter_heim@optusnet.com.au">peter_heim@optusnet.com.au</a>></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'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 <fixed frame><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 moz-do-not-send="true" href="mailto:tfoote@willowgarage.com">tfoote@willowgarage.com</a><br>
(650) 475-2827<br>
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</pre>
</blockquote>
Hi Tully<br>
thanks for that<br>
i had 2 publishers now it works <br>
<br>
peter<br>
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