• map --> odom_combined is usually published by amcl (optional)
  • odom_combined --> base_footprint is published by robot_pose_ekf
  • base_footprint --> base_link is a fixed link in your URDF

注意:对地面机器人来说,出现/map doesnot exist 可能为你的amcl.launch.xml文件中的激光topic 输入不正确

2. How to see tf_tree

(1) view_frames

rosrun tf view_frames

evince frames.pdf

(2) monitor

rosrun tf tf_monitor base_link torso_lift_link

(3)RosWTF is a tool that inspects a running system, and reports everything that looks suspicious



posted @ 2016-06-27 17:51  之介  阅读(945)  评论(0编辑  收藏  举报