2020年9月12日 · @Dragonslayer The cam node does allow me to change the name of the odometry frame via. param file. But I don't think just changing the name from "cam1_odom" to "odom" would be the right way to go about. I would need to somehow add a odom->cam1_odom tf to indicate the relation between the two odometry frames. I have been trying to figure out if ...

### ekf config file ### for odom to base_link transform ekf_filter_node_odom: ros__parameters: use_sim_time: true # The frequency, in Hz, at which the filter will output a position estimate. Note that the filter will not begin # computation until it receives …

2019年11月29日 · I'm run the code, and run rosrun tf view_frame, I get the tf tree is no problem. but when I publish the odom to base_footprint transform in another file .all will be weird. I don't know what's wrong. can you hlep me.

2020年2月19日 · Maybe there is a time conflict between odom -> base_link and base_link-> other_links. Can you listen /tf topic and analyse the ros time odom->base_link and base_link-> not transform links. If it is the problem you can change the header.stamp in odom_to_base tf broadcaster like this: odom_trans.header.stamp = ros::Time::now();

The odom and map frames are fix frames. Typically, the map frame is fixed at a specific location and the odom frame starts wherever you start robot localization. If you are not navigating autonomously, you can provide a static transform between map to odom and you can have the EKF2 publishing odom->base_link. For example:

2023年2月26日 · Hi, I have a question about localization of a robot and integrating rtabmap_ros with an external localization source that provide map->odom transform. I have an instance of the robotlocalization package that combine information from wheel encoders and visual odometry to provide the odom->baselink transform.

Gazebo publishes the odom data on the topic /husky_velocity_controller/odom. You can use that to get access to the odometry data. Also. if you look inside the control.yaml file inside the husky_gazebo package, you can find the pose_covariance_diagonal parameter. It corresponds to the variances in [x, y, z, roll, pitch,yaw] in the odometry data.

Just to preface this: I’m a complete beginner with both, ROS and the Realsense cameras. Currently using: Ubuntu 16.04 with ROS Kinetic. I have a mobile robot that I hope to use the t265 with. Essentially I want to add 4 other links to the tf tree: …

2019年1月12日 · Odom Publisher by Subscribing Encoder Ticks for Differential Drive I am trying to calculate odometry position and visualize in rviz. The movement can not be visualize properly although there is no syntax error

2017年1月31日 · rqt_bag shows tf and odom data, raw data shows data in both /odom and /tf, everything looks correct. when I run rosrun tfviewframes I only see baselink----> laserframe and broadcaster /tf info. However, I expeccted to see /odom--- …