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ROS的tf_tree相关

１．相关问答
【ROS的tf_tree相关】http://answers.ros.org/question/11682/robot_pose_ekf-with-an-external-sensor/
http://ros-users.122217.n3.nabble.com/REP-105-base-footprint-and-odom-combined-td3330244.html

  • 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
http://wiki.ros.org/tf/Debugging%20tools
(1) view_frames
rosrun tf view_framesevince 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
roswtf


转载于:https://www.cnblogs.com/yebo92/p/5620900.html

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