missing ＜odometrySource＞ default is 1 ； missing ＜publishTf＞, defaults to 1

最新推荐文章于 2024-03-11 19:20:37 发布

昼行plus

最新推荐文章于 2024-03-11 19:20:37 发布

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分类专栏： ROS

原文链接：https://answers.ros.org/question/236122/diffdrive-odometry-source-is-missing/

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在运行Gazebo时遇到关于＜odometrySource＞和＜publishTf＞的警告，解决方法是在配置文件中添加相应代码行，参考ROS社区解答。

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运行Gazebo的时候报下面的警告

[ WARN] [1465156368.902100026, 1017.888000000]: DiffDrive(ns = //): missing <odometrySource> default is 1
[ WARN] [1465156368.902473604, 1017.888000000]: GazeboRosDiffDrive Plugin (ns = ) missing <publishTf>, defaults to 1

解决方案：

在配置文件中加入如下两行代码：

<odometrySource>world</odometrySource> <!-- 'encoder' instead of 'world' is also possible -->
<publishTf>1</publishTf>

完整代码如下：

  <!-- differential drive -->
<gazebo>
    <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>40</updateRate>
        <legacyMode>false</legacyMode>
        <leftJoint>base_right_wheel_joint</leftJoint>
        <rightJoint>base_left_wheel_joint</rightJoint>
        <wheelSeparation>0.39</wheelSeparation>
        <wheelDiameter>0.15</wheelDiameter>
        <torque>5</torque>
        <commandTopic>cmd_vel</commandTopic>
        <odometryTopic>odom</odometryTopic>
        <odometryFrame>odom</odometryFrame>
        <robotBaseFrame>base_link</robotBaseFrame>
        <publishWheelTF>false</publishWheelTF>
        <publishWheelJointState>false</publishWheelJointState>
        <rosDebugLevel>na</rosDebugLevel>
        <wheelAcceleration>0</wheelAcceleration>
        <wheelTorque>5</wheelTorque>
        <odometrySource>world</odometrySource>
        <publishTf>1</publishTf>
    </plugin>
</gazebo>