[ros-users] rviz / tf fixed frame problem

[Ivan Dryanovski]

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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