错误 :Could not find a connection between ‘/base_footprint’ and’/base_link’ because they are not part of the same tree.Tf has two or more unconnected trees.
lua配置:
map_frame = "map",
tracking_frame = "imu_link",
published_frame = "base_link",
odom_frame = "odom",
provide_odom_frame = false,
publish_frame_projected_to_2d = false,
use_odometry = true,
tf指令
查看’/base_footprint’ and’/base_link’两坐标系之间的转换关系
rosrun tf tf_echo [reference_frame] [target_frame] # 两坐标系之间的转换关系
carto文档中的参数说明
map_frame:The ROS frame ID to use for publishing submaps, the parent frame of poses, usually “map”
published_frame:The ROS frame ID to use as the child frame for publishing poses. For example “odom” if an “odom” frame is supplied by a different part of the system. In this case the pose of “odom” in the map_frame will be published. Otherwise, setting it to “base_link” is likely appropriate
坐标系变换通常可以为:
map_frame
→
\to
→odom
→
\to
→published_frame
或者
map_frame
→
\to
→published_frame
故设置时注意Tf树的连通性
lua改为:
map_frame = "map",
tracking_frame = "imu_link",
published_frame = "odom",
odom_frame = "odom",
provide_odom_frame = false,
publish_frame_projected_to_2d = false,
use_odometry = true,