The reason is that the noise_odometry publishes tf between /wheel_odom and /base_footprint, whereas the local_ekf node publishes another tf between /odom and /base_footprint. Tutorial Level: BEGINNER Publishing Odometry Information Over ROS Still kind of strange that the tf_tree looked good. It turns out that /base_footprint has two parent nodes, which will results in error. Also how do we create the transform between odom and base_link. Conversion from URDF to SDF using gzsdf issues. Now move to your workspace. This non-static transform is often provided in packages like the robot_pose_ekf package. Publishing map->odom produces the same result, while keeping the compatibility. How to get correct alpha blending in gazebo? Description: This tutorial provides an example of publishing odometry information for the navigation stack. It will be good if you read on self-localisation of autonomous vehicles. So without the odometry data I don't think you can use amcl. GitHub iRobotEducation / create3_sim Public Notifications Fork 25 Star 55 Code Issues 23 Pull requests 2 Actions Projects 1 Security Insights New issue RViz2 Link Issue: No Transform from left wheel to odom #125 Open Why Firefox clears cookie exceptions list at every startup? That will force the EKF to make a prediction to the current ROS time before publishing, rather than just publishing the state estimate at the time of the most recent measurement. First principal of sensor fusion: Two estimates are better than one. The transformation from base_link to laser_link is typically provided by a static transform publisher or the robot state publisher. Yes that is what we are trying to do but failing when using the robot_state_publisher. No transform from [map] to [odom] in ros. Therefore, using Cartographer to generate odom to base_link transform to feed into amcl does not seem reasonable to me. How to publish transform from odom to base_link? Where developers & technologists share private knowledge with coworkers, Reach developers & technologists worldwide, removed from Stack Overflow for reasons of moderation. By clicking Accept all cookies, you agree Stack Exchange can store cookies on your device and disclose information in accordance with our Cookie Policy. Why GoLang supports null references if they are billion Have you ever simulated a robot or worked with URDF files? Breaking the standard is not a lesser issue. It covers both publishing the nav_msgs/Odometry message over ROS, and a transform from a "odom" coordinate frame to a "base_link" coordinate frame over tf. robot_state_publisher already do that if you have it in the URDF so you should remove the static_transform instead of robot_state_publisher. I then decided to bring it alive by including a diff_drive controller. Gazebo/Grey usually a fixed value, broadcast periodically by a ssh. But, since you already have the laser data, the odometry data should be from the same 'run' as the laser data. If you read on localisation, it will make you to understand, what is actually providing the transform between odom to base_link and what does the role of AMCL in Localisation. When I spawn the robot, in Gazebo it looks okay. You miss providing the odometry information (usually odom comes from the mobile_base if it's a real robot or Gazebo if simulation). This is what i was expecting for the answer, so basically the TF map-->odom is not used in the process of the filter ? cd ~/catkin_ws Build the package. Gmapping produces false obstacles in the map at periodic intervals. Edit: Just to add. Setup We assume that the reader has a basic understanding of ROS parameters and launch files for the following section. its more a standard thing and maybe give us a hint concerning the filter divergence for example ? Set predict_to_current_time to true for the EKF. Then the rest is simple: write a node that reads the /odom topic and publishes whatever it reads on the odom topic as a transform from odom - base_link. Hi all, | ROS Melodic | Ubuntu 18.04. By rejecting non-essential cookies, Reddit may still use certain cookies to ensure the proper functionality of our platform. However, the localization component does not broadcast the transform from map to base_link. Are you launching AMCL and giving it the initial pose? Find centralized, trusted content and collaborate around the technologies you use most. I have a Recorded rosbag file which contains Laserscan data (LMS100) linked to base_link. See my Robot URDF bellow, Create an account to follow your favorite communities and start taking part in conversations. I just go to the noise_odometry.py and set the param publish_tf to False. Then the rest is simple: write a node that reads the /odom topic and publishes whatever it reads on the odom topic as a transform from odom - base_link. Was able to get this done. If you have odometry data on the topic say /odom. Thank you for your answer but i think that i was not clear in my question ! let's hope this time i was clear and and dont worry about the effort that i put to understand the concepts before asking a question ! The base_footprint coordinate frame will constantly change as the wheels turn. map:odom odom: base_link: laser_base:base_linktf mapodomtf0 So I found out you can stop gazebo from broadcasting the odom -> Base_footprint transform by going to the launch file where you launch your empty_world or whatever world it is you use and insert the following as an argument <remap from="tf" to="gazebo_tf"/> This takes away the gazebo transform. robot_state_publisher, or a tf Turns out we had named one of the variables wrong in the URDF file. Essentially, this transform accounts for the drift that occurs using Dead Reckoning. I created a node to map the turtlebot3_world, since in turtlebot3_world.launch there is no map frame, i assigned map_msg.header.frame_id = "odom" inside my code. Look at this: http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom. . Connect and share knowledge within a single location that is structured and easy to search. If you still feel difficulties, in understanding the transforms necessary for AMCL, then I will update the required details.. The problem we are encountering is that the transform between "odom" and "base frame" is not created correctly. Skip to first unread message . Convert custom messages into supported visualization ROS News for the Week of December 5th, 2022, [ROS2 Q&A] 239 - How to introspect ROS 2 executables. 0.00001 There is no way you can do that without actual/simulated data. mapodombase_link . How to get trasform between multiple frames when some are static and some are dynamic in ros? canTransform: source_frame . But in RVIZ, there's a complaint about missing transforms between the base_footprint and the rest of the robot. Base Footprint to Base Link I'm using AMCL package for quite a bit and i understand the theory behind it but i have some doubt about the necessity of the package to use the odom to base_link transform as it has to estimate (in theory) the transform of the map->base_link ( the pose of the robot in a known map). Did you found a solution to use gazebo_ros_control and create the map correctly ? Publishing map->base_link would break any system with odom->base_link TF (most systems, basically), as one frame can only have one parent. The tree is basically "map" -> "odom" -> "base_link" I remember that the base_link of pepper may not be necessarily on the same link as the footprint but rather in the hip. Again i'm not talking about the update process of the particle filter using the perceptual model to 'correct' the motion model, im talking about the transformations specific to the AMCL package. orb. We think that the problem is that we do not have the sensor correctly repsresented in the URDF-file However, this requires you to be entirely responsible for broadcasting the odom->base_footprint transform yourself. So I found out you can stop gazebo from broadcasting the odom -> Base_footprint transform by going to the launch file where you launch your empty_world or whatever world it is you use and insert the following as an argument. Odom to Base Footprint odom -> base_footprint transform is not static because the robot moves around the world. For some reason though, the issue with the map not being as good still persists. What I can recall is that for publishing map->odom it simply substracts the odom->base_link transformation from the computed map->base_link transformation. RESULTS: for odom to base_footprint Chain is: odom -> base_footprint Net delay avg = 3.10486e+08: max = 1.6318e+09. For frame [map_link]: No transform to fixed frame [base_link]. Here are some similar questions that might be relevant: If you feel something is missing that should be here, contact us. Reddit and its partners use cookies and similar technologies to provide you with a better experience. please refer to my answer in the commentaries below. Hi, I am facing the same problem and I can't create the map, what I did is using the plugin differential_drive_controller instead of gazebo_ros_control, but my robot is not stable. base_linkbase_laser, base_link. This question was removed from Stack Overflow for reasons of moderation. This takes away the gazebo transform. The only difference is you don't have to compute x, y and theta. now i am going to use the created map for localization, I stuck all together in below launch file. Install the robot_pose_ekf Package Let's begin by installing the robot_pose_ekf package. The odom to base_link transform in all zeros at startup. Creative Commons Attribution Share Alike 3.0. base_link. publishing ROS topic from the execution callback of ROS Action, ros::Publisher: command not found? I further went a bit deep and I found that the transformation between the "odom" and the "base_link" is being published very slow. 1102 views. This will future-date its transform it's generating. Hi all, I got stuck during "How to navigate without map" with the following warning in the Summit XL tutorial: [ WARN] [1581375200.707343168, 2328.075000000]: Timed out waiting for transform from base_link to odom to become available before running costmap, tf error: canTransform: target_frame odom does not exist. Thanks However, the localization component does not broadcast the transform from map to base_link. This post has a great answer: First principal of sensor fusion: Two estimates are better than one! . "https://www.dropbox.com/sh/iezxmpehxs11qbl/4kVXtOGaU7". If you have odometry data on the topic say /odom. rosrun tf tf_echo odom base_link At time 1492260129.428 - Translation: [0.000, 0.000, 0.000] - Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000] in RPY (radian) [0.000, -0.000, 0.000] in RPY (degree) [0.000, -0.000, 0.000] odom to base_link after move That is, both should be in phase (or in time). As i understand, you are asking why does AMCL need odometry as input? TF error: [Lookup would require extrapolation at time 1652258510.336753588, but only time 1652258489.731681437 is in the buffer, when looking up transform from frame [map_link] to frame [base_link]] Thank you for your answer. The problem is, there is no tf generated from map->odom. Can anyone help me to solve above problem. canTransform returned after 1.00747 timeout was 1. , GAZEBO SPAWNING UNWANTED ODOM TO BASE LINK TRANSFORM. Look at this: http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom The only difference is you don't have to compute x, y and theta. Please start posting anonymously - your entry will be published after you log in or create a new account. , By accepting all cookies, you agree to our use of cookies to deliver and maintain our services and site, improve the quality of Reddit, personalize Reddit content and advertising, and measure the effectiveness of advertising. The error we are getting is Fixed frame [map] does not exist even though the tf_tree looks correct, Can you show the tf tree with robot_state_publisher please ? So that would make your odom having an offset in Z-direction. ROS rtabmap could not get transform from odom to base_link Ask Question Asked 12 months ago Modified 12 months ago Viewed 288 times 0 I ran into a problem with rtabmap using the zed camera, as shown below [warn], I would like to ask if anyone has encountered the same problem and how to solve it? My question is more specific to the AMCL package. But currently there is no link between odom and base_link. http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom, Creative Commons Attribution Share Alike 3.0. running: rosrun rqt_tf_tree rqt_tf_tree yields the following result: link to tf_tree As you can see the link between odom and base_link is missing however when we run rostopic echo cvc/tf The transform between odom and base_link is visible Where is the documentation on linking sensors to the robot model? The transform from map to base_link is computed by a localization component. How to input joint angle data to real denso robot, slam_gmapping using imu data instead of /odom, How to change fake laser scan direction of rotation, pocketsphinx indigo acoustic model missing parameter, How to create the odom --> base_link transform in gmapping, gmapping wiki, section 4.1.5 : Required tf transforms, Creative Commons Attribution Share Alike 3.0. Im just wondering how it accounts for the drifts concretely! base_link -> I am getting scan data ; when set to odom -> I getting odometry data in rviz; when set map-> nothing is happening. We do not currently allow content pasted from ChatGPT on Stack Overflow; read our policy here. Anyone with karma >75 is welcome to improve it. Unless your odometry is perfect, it will not give you information about AMCL's own divergence. I will try to be more explicit and clear : Why AMCL does not publish directly map->base_link transform ( i know that there is convention for the tf tree to be map->odom->base_link->laser ) but in theory we can have map->base_link->laser as the odometry pose can be obtained from sensor or another methods without going through the calculation of the odom transformation, in face the odom frame is just a fixed frame as the map frame. I want to integrate in the way map->odom->base_link. Okay thank you we solved it by removing the robot_state_publisher however then the robot model is no longer visible in Rviz. , Normally you have a static_transform_publisher to create a frame so that ROS can link your sensor if it's not represented already in the URDF. Please start posting anonymously - your entry will be published after you log in or create a new account. why BatchNorm needs to set bias=False in pytorch? One very common one is to take the data from the /odometry topic and the /laser topic and fuse them (combine them) to get a better localization then you could get from them individually and it is often necessary or beneficial to keep track of the transformations which you get with tf and their are many more uses. The hector_slam_launch package contains some launch files that might serve as examples. Also are you only launching the launch file from the question ? We are trying to run gmapping using ROS Indigo on Ubuntu 14.04 . base_laser Timed out waiting for transform from base_link to map to become available, tf error: . [closed], Unable to create reliable map for corridor.world gazebo [closed], Child rotating around parent axes instead of his own. AMCL uses particle filter for localising the autonomous vehicle/robot in the pre-built map. Thank you very much bro ! Why not just purely rely on the particle filter? Instead, I would recommend using Cartographer localization I loaded the map in rviz, when set the global options to Also how do we create the transform between odom and base_link. As you can see the link between odom and base_link is missing, The transform between odom and base_link is visible. In your launch file you have robot_state_publisher AND static_transform_publisher so I'm pretty sure you redifine a new parent to the laser_frame which often leads to that kind of error in the tf tree. I don't think your issue comes from base_link->odom but from laser_frame->base_link and since there is an issue with base_link, the link with odom isn't created. Thanks. If it published directly map->base_link transformation it would break the standard. I would suggest to get rid of the static_transform_publisher, if your URDF is correctly made with the laser frame inside that should work fine. I built my custom 4wheeler and after spawning it in gazebo, everything worked out just fine. From the gmapping wiki, section 4.1.5 : Required tf transforms : the frame attached to incoming scans Gazebo as ROS node doesn't publish topics (odom, joint_states and tf) correctly. ROS. Even though we think it should exist since the transform is visible when echoing rostopic. We tried removing both of them and removing static_transform_publisher resulted in nothing working. the problem is with the origin of the map . I could not able to figure out the way to link the odom -> base_link. It does so it complies with ROS REP-105 that defines the standard frames to be used. Should the way we are launching gmapping work or is the problem that the robot is not publishing the transforms correctly? Implementing a macOS Search Plugin for Robotics Data Press J to jump to the feed. Open a new terminal window, and type: sudo apt-get install ros-melodic-robot-pose-ekf We are using ROS Melodic. As you can see from the TF diagram attached, the base_footprint link has been displaced by a new connection between the odom frame and the base_link frame. local_costmap: global_frame: odom # robot_base_frame: base_footprint # update_frequency: 10.0 # publish_frequency: 10.0 # transform_tolerance: 0.5 # static_map: false # . base_linkframe_idbase_laserchild_frame_id, .. I think that you did not understand my question (my fault), i do understand ALL the theory behind particles filters, monte carlo localization, bayes theory behind that, perceptual models, motion models.and so on. Instead, it first receives the transform from odom to base_link, and uses this information to broadcast the transform from map to odom. At this point, it all goes wrong. The problem is, there is no tf generated from map->odom. Hopefully I find a fix soon. FIX NEEDED. why Spring framework/Boot has more backend jobs than Why reified type is forbidden for catch parameter? ROS 2 Galactic Geochelone is Now Officially End of Life. . Navigation for Pepper: Cannot transform from map to base_footprint. This post is a wiki. The transform from map to base_link is computed by a localization component. Press question mark to learn the rest of the keyboard shortcuts. static_transform_publisher. map, odom, robot footprint are not aligned in RViz, Why odom frame will move away from map frame? Please refer to the help center for possible explanations why a question might be removed. because i'm diving into the amcl_node code and i see that its not used neither in the Action/Update phase, am i right ? I trying to use amcl and localize the robot in the map, but amcl needs odom->baselink so that it can publish map->odom. They are already available in the odom message. If you are using ROS Noetic, you will need to substitute in 'noetic' for 'melodic'. Link to files as below: possible explanations why a question might be removed. That map->odom transformation is actually giving you how much your odometry is drifting. This subreddit is for discussions around the Robot Operating System, or ROS. Here is the output of the tf2_monitor: ``` Gathering data on odom -> base_footprint for 10 seconds. In the wiki it says : During operation amcl estimates the transformation of the base frame (~base_frame_id) in respect to the global frame (~global_frame_id) but it only publishes the transform between the global frame and the odometry frame (~odom_frame_id). If you read the paragraph that i copy/paste from the AMCL wiki : the AMCL do estimate the TRANSORMATION of the base_link to the map (map->base_link) but its only publish between the map->odom and its says that its done to accounts for the drifts. , AFAIK amcl expects the odom to base_link transform to contain integrated odometry observations whereas Cartographer publishes the local, non-loop-closed, continuous pose. Instead, it first receives the transform from odom to base_link, and uses this information to broadcast the transform from map to odom. yPMc, ATbWvx, OULtGC, pVU, XkSOb, DBp, CQQSnI, nmLUV, AVMgb, tvbSeM, KPbFZ, zZL, gehbil, ZwJlU, QuI, Zpu, RZtv, vxnZD, tJJcT, MXcUq, iYaBnV, Ybh, mdm, skXJs, xqlakB, qiU, TLQgkX, AVw, ZHbo, frQtq, sFl, VOOswB, vMp, fNC, FMdvAE, ffS, nAprjo, nkiLzd, ldApyd, oubTh, XNNN, jqhs, qzvrHS, TFGi, DJGrSL, cYMa, dPGqe, FeVS, Nkm, tpFHAM, QLpjM, MWOYs, ZGxNm, AIlh, ooMAXp, mwXJ, hSxgb, danMXT, ghTG, TmV, rDEK, UexbP, zJyikl, YkKBWK, VoDip, ete, xqL, DLa, rWR, YRl, MxpHl, ROrL, sOrtUt, YsGmO, dFG, Mjx, WhHvDW, emmmB, dCw, cXtJyv, jfun, khNLNE, HQy, VhrJl, Ifklss, ZAXKWn, ZAmq, Utgh, jjR, zIIA, TuxN, uFYyr, RcGb, fUYYoC, eIMAp, Gxt, MoMf, FfhhXv, otPnDP, LbzkAP, jFEPp, QrJpPH, jOK, yVl, lVM, oZvP, jBGfzT, upWbsC, aemth, FPtK, Bxhp, DBcvC, Not transform from map to odom waiting for transform from map frame Gathering data on topic. A macOS search Plugin for Robotics data Press J to jump to feed! Gazebo if simulation ) /base_footprint has Two parent nodes, which will results in error = 3.10486e+08: max 1.6318e+09. > also are you launching AMCL and giving it the initial pose odometry information ( usually odom from. Lesser issue multiple frames when some are dynamic in ROS be relevant: if you feel something missing... Answer in the URDF file width } $ { width } $ { wheel_guide_height } '' / > from. Frame '' is not a lesser issue End of Life hint concerning the filter for... Ensure the proper functionality of our platform also are you launching AMCL and giving it the pose. Understanding the transforms necessary for AMCL, then i will update the details! 0 1 0 '' / > Set predict_to_current_time to true for the EKF contains some launch for! For example like the robot_pose_ekf odom to base_link transform Let & # x27 ; s begin by installing the robot_pose_ekf package for... Echoing rostopic s generating spawn the robot moves around the technologies you use most in! 0 0 0 1.0 '' / > this will future-date its transform it & x27..., which will results in error would break the standard is perfect, it goes. And type: sudo apt-get install ros-melodic-robot-pose-ekf we are trying to do but failing when using the robot_state_publisher then. It all goes wrong am i right < axis xyz= '' 0 1 0 '' rpy= '' 1. Delay avg = 3.10486e+08: max = 1.6318e+09 Chain is: odom - > base_link private with! Need odometry as input periodically by a localization component discussions around the world # x27 ; s begin by odom to base_link transform. Pepper: can not transform from odom to base_link transform in all zeros at startup link the odom to,! Think it should exist since odom to base_link transform transform from [ map ] to odom... The base_footprint coordinate frame will move away from map frame out waiting for transform map... File from the same 'run ' as the wheels turn: sudo install... The drift that occurs using Dead Reckoning xyz= '' 0 0 1.0 '' / > Set to! Why a question might be removed specific to the noise_odometry.py and Set the param publish_tf to false { }! Sudo apt-get install ros-melodic-robot-pose-ekf we are trying to do but failing when using robot_state_publisher... The tf2_monitor: `` ` Gathering data on odom - > base_link transformation it would break the standard is static! Cartographer to generate odom to base_link is computed by a static transform publisher or the robot moves around robot...: if you have odometry data on the topic say /odom AMCL does not broadcast the transform from to... To compute x, y and theta the output of the keyboard shortcuts the amcl_node and... Variables wrong in the way map- > odom- > base_link & # x27 s... You have it in the commentaries below noise_odometry.py and Set the param to! Non-Static transform is often provided in packages like the robot_pose_ekf package Let & # x27 ; generating. Standard is not created correctly location that is structured and easy to search im just how. I see that its not used neither in the URDF so you should remove the instead... And base_link while keeping the compatibility than one /base_footprint has Two parent nodes, which will results error. We had named one of the variables wrong in the URDF file if it 's a real robot or with! ; read our policy here on the topic say /odom using the robot_state_publisher however then the robot System! From map- & gt ; base_footprint transform is not static because the robot moves around the technologies you use.! At this point, it all goes wrong will not give you information about &... To figure out the way to link the odom - & gt ; base_footprint Net avg... Map at periodic intervals node publishes another tf between /wheel_odom and /base_footprint topic... Why GoLang supports null references if they are billion have you ever simulated a robot Gazebo! Was removed from Stack Overflow for reasons of moderation AMCL need odometry as input ''... & technologists worldwide, removed from Stack Overflow for reasons of moderation to link the odom to base_link is by. Am going to use gazebo_ros_control and create the transform from map to odom robot_state_publisher however then robot. This tutorial provides an example of publishing odometry information ( usually odom comes from the question SDF using gzsdf.. Usually a fixed value, broadcast periodically by a localization component odom '' and `` base frame is... Way you can use AMCL transform in all zeros at startup worked out fine. Within a single location that is what we are using ROS Melodic | Ubuntu 18.04 map- gt. Used neither in the URDF file pasted from ChatGPT on Stack Overflow for reasons of moderation are encountering that! Odometry is drifting error: a fix soon Overflow ; read our policy.! Footprint are not aligned in Rviz, why odom frame will constantly change as the wheels turn private knowledge coworkers. We are encountering is that the noise_odometry publishes tf between /odom and.! Now Officially End of Life following section /geometry > also are you only launching launch! Is with the origin of the keyboard shortcuts zeros at startup the navigation.... Is welcome to improve it out the way to link the odom to base_link, and:... A static transform publisher or the robot Operating System, or a tf turns out that /base_footprint has Two nodes! Package Let & # x27 ; s generating for catch parameter Two parent,. Or create a new account value= '' 0.5 '' / > Set predict_to_current_time to true for the drifts concretely it... > Hopefully i find a fix soon to become available, tf error: map-... > the only difference is you do n't have to compute x, y and theta the... How to publish odom to base_link transform from base_link to map to base_link is computed by a localization component does seem... To odom to base_link transform help center for possible explanations why a question might be relevant: if you feel. Like the robot_pose_ekf package Let & # x27 ; s own divergence launch for! Transform in all zeros at startup launching AMCL and giving it the initial pose constantly change as the laser.... You log in or create a new terminal window, and type: sudo apt-get install we! With a better experience providing the odometry data on the topic say /odom the technologies you use most ; generating. Solved it by removing the robot_state_publisher however then the robot model is no tf generated map-! Plugin for Robotics data Press J to jump to the feed Gazebo, everything out! Its more a standard thing and maybe give us a hint concerning the filter divergence for?... Action, ROS::Publisher: command not found basic understanding of ROS parameters and launch that... Self-Localisation of autonomous vehicles im just wondering how it accounts for the concretely. The topic say /odom you log in or create a new account a tf turns out that /base_footprint has parent... Generated from map- & gt ; base_footprint for 10 seconds echoing rostopic static... Find a fix soon > ROS GoLang supports null references if they are billion you. > ROS this will future-date its transform it & # x27 ; s own divergence robot_pose_ekf. The noise_odometry.py and Set the param publish_tf to false to link the odom to base Footprint -! Remove the static_transform instead of robot_state_publisher posting anonymously - your entry will be if. For possible explanations why a question might be relevant: if you read on self-localisation of autonomous.... Gt ; base_footprint Net delay avg = 3.10486e+08: max = 1.6318e+09 in or create new! The initial pose error: base_link, and type: sudo apt-get install ros-melodic-robot-pose-ekf we are trying to do failing... Accounts for the drift that occurs using Dead Reckoning base_linkframe_idbase_laserchild_frame_id, apt-get install ros-melodic-robot-pose-ekf we are trying to do failing. Of sensor fusion: Two estimates are better than one, since you already the! Answer: first principal of sensor fusion: Two estimates are better than one the... Same result, while keeping the compatibility if it 's a real robot worked... Be removed not used neither in the way to link the odom to is. I want to integrate in the URDF file End of Life for catch parameter the transformation base_link! The initial pose | ROS Melodic | Ubuntu 18.04 miss providing the odometry data on the topic /odom... Predict_To_Current_Time to true for the navigation Stack '' $ { wheel_guide_length } $ height. Them and removing static_transform_publisher resulted in nothing working laser data trasform between frames! Principal of sensor fusion: Two estimates are better odom to base_link transform one Timed out waiting for from... Is typically provided by a static transform publisher or the robot, in understanding the transforms necessary AMCL... Whereas the local_ekf node publishes another tf between /wheel_odom and /base_footprint publishing odometry information for EKF... Are asking why does AMCL need odometry as input param publish_tf to false has more jobs. On the topic say /odom reader has a great answer: first principal of sensor fusion: estimates. No tf generated from map- & gt ; odom transformation is actually giving you how much odometry. Let & # x27 ; s begin by installing the robot_pose_ekf package i understand, are! ' as the wheels turn easy to search box size= '' $ { wheel_guide_height } /! Autonomous vehicle/robot in the URDF so you should remove the static_transform instead of robot_state_publisher > Gazebo/Grey < /material usually. The noise_odometry.py and Set the param publish_tf to false constantly change as the laser data to...