Comments (2)
I had the same problem and have got it solved.
- check robot model
for me it is "robot1_description/urdf/robot1_base_04.xacro" - open the xacro file and check gazebo tag (at the bottom of this file)
what I saw is:
<gazebo>
<plugin name="skid_steer_drive_controller"....>
...
<robotBaseFrame>base_link</robotBaseFrame>
...
<broadcastTF>0</broadcastTF>
..
</gazebo>
- change "base_link" to "base_footprint" and change "0" to "1"
Reasons:
-
the root link of robot1 is base_footprint, and the correct tf tree should be:
map -> odom-> base_footprint -> base_link
If "base_link" be the robotBaseFrame, it(base_link) will have two parents(base_footprint and odom), which is invalid.
-
broadcastTF determines whether skid_steer_drive_controller will publish tf transform between odomFrame and robotBaseFrame.
Find details in https://github.com/ros-simulation/gazebo_ros_pkgs/blob/kinetic-devel/gazebo_plugins/src/gazebo_ros_skid_steer_drive.cpp
if (!_sdf->HasElement("broadcastTF")) { ... } // if "broadcastTF" is not existed else // if "broadcastTF" exsits, get the value this->broadcast_tf_ = _sdf->GetElement("broadcastTF")->Get<bool>();
if (this->broadcast_tf_) { transform_broadcaster_->sendTransform( tf::StampedTransform(base_footprint_to_odom, current_time, odom_frame, base_footprint_frame)); }
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Likely a duplicate of #4
Will look into it asap.
from effective_robotics_programming_with_ros.
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