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fixed map and costmap misalignement due to wrong frame_id #36

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merged 7 commits into from
Dec 2, 2014
Merged

fixed map and costmap misalignement due to wrong frame_id #36

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06c1edf
fixed map and costmap misalignement due to wrong frame_id
mehditlili Oct 13, 2014
1e2603b
Update tf_connector.py
mehditlili Oct 13, 2014
d3778a8
Update turtlebot.yaml
mehditlili Oct 13, 2014
3ce39ea
renamed new_map to rviz_map, a map with the right global frame id
mehditlili Oct 14, 2014
d3ebfc6
Merge branch 'indigo' of https://github.com/mehditlili/turtlebot_simu…
mehditlili Oct 14, 2014
33a5070
Use only one map topic and remove unused sensors from rviz
mehditlili Nov 10, 2014
2767053
Use default map topic name map after changing stdr's internal map ser…
mehditlili Nov 24, 2014
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13 changes: 10 additions & 3 deletions turtlebot_stdr/launch/turtlebot_in_stdr.launch
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Original file line number Diff line number Diff line change
@@ -1,18 +1,17 @@
<!--
Turtlebot navigation simulation:
- stdr
- map_server
- move_base
- static map
- amcl
- map_server
- rviz view
-->
<launch>
<arg name="base" default="$(optenv TURTLEBOT_BASE kobuki)"/> <!-- create, rhoomba -->
<arg name="stacks" default="$(optenv TURTLEBOT_STACKS hexagons)"/> <!-- circles, hexagons -->
<arg name="3d_sensor" default="$(optenv TURTLEBOT_3D_SENSOR kinect)"/> <!-- kinect, asus_xtion_pro -->
<arg name="laser_topic" default="robot0/laser_0"/> <!-- default laser topic in stdr for 1 robot -->
<arg name="odom_topic" default="robot0/odom"/> <!--env default odom topic in stdr for 1 robot -->
<arg name="odom_topic" default="robot0/odom"/>
<arg name="odom_frame_id" default="map"/>
<arg name="base_frame_id" default="robot0"/>
<arg name="global_frame_id" default="world"/>
Expand Down Expand Up @@ -52,6 +51,12 @@
<remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>
</node>

<!-- ****** Maps ***** -->
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)">
<param name="frame_id" value="$(arg global_frame_id)"/>
</node>


<!-- ************** Navigation *************** -->
<include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
<arg name="odom_topic" value="$(arg odom_topic)"/>
Expand Down Expand Up @@ -85,5 +90,7 @@
<!-- **************** Visualisation **************** -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot_stdr)/rviz/robot_navigation.rviz"/>




</launch>
16 changes: 8 additions & 8 deletions turtlebot_stdr/nodes/tf_connector.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,19 +8,19 @@ class Remapper(object):

def __init__(self):
self.br = tf.TransformBroadcaster()
rospy.Subscriber("/tf", TFMessage, self.tf_remapper)

def tf_remapper(self, msg):

a = 1
if msg.transforms[0].header.frame_id == "/robot0":
self.br.sendTransform((0, 0, 0),
tf.transformations.quaternion_from_euler(0, 0, 0),
rospy.Time.now(),
"base_footprint",
"robot0")
if msg.transforms[0].header.frame_id == "/robot0":
self.br.sendTransform((0, 0, 0),
tf.transformations.quaternion_from_euler(0, 0, 0),
rospy.Time.now(),
"base_footprint",
"robot0")


if __name__ == '__main__':
rospy.init_node('remapper_nav')
remapper = Remapper()
rospy.Subscriber("/tf", TFMessage, remapper.tf_remapper)
rospy.spin()
2 changes: 1 addition & 1 deletion turtlebot_stdr/robot/turtlebot.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@ robot:
- initial_pose:
x: 2.0
y: 2.0
theta: 0
theta: 0.0
- laser:
laser_specifications:
max_angle: 0.5
Expand Down
59 changes: 1 addition & 58 deletions turtlebot_stdr/rviz/robot_navigation.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -288,64 +288,7 @@ Visualization Manager:
Max Intensity: 285
Min Color: 0; 0; 0
Min Intensity: 2
Name: LaserScan (ir sensors)
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.05
Style: Flat Squares
Topic: /ir_scan
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan (virtual sensor)
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.02
Style: Flat Squares
Topic: /virtual_sensor_scan
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0

Name: PointCloud (bumpers)
Position Transformer: XYZ
Queue Size: 10
Expand Down