Incorrect starting position and map frame in RViz

[pranshumalik14]

I'm using ROS Melodic and after building the modified version of ros_stage provided here, the tutorials on dynamic obstacles work fine except for the incorrect local cost map in RViz and the location of the robot.

I have attached the pictures, and I haven't been able to track down why the initialization is wrong. No such warning message shows up on the terminal. But it seems like the problem is with some TFs are missing in the dyn_obst_corridor_scenario example.

It'll be great if someone can help me out with setting this up properly!

[pranshumalik14]

@croesmann it will be great if you can help out a bit

[beevabeeva]

Also experiencing this issue.

[DyedBamboo]

Just change the TF release in the launch file

[Shivam7Sharma]

Just change the TF release in the launch file

I am facing the same issue. Can you please elaborate on your solution?

@croesmann

[peikun1990]

I have the same issue. Does anyone have the solution?

[ksvbka]

I have the same issue. Does anyone have the solution?

Just change param in static_transform_publisher. Eg: <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 1 /map /robot_0/odom 100" />

[Rago777]

I've just solved this problem, and I can provide the following two solutions: 1.Update your stage_ros following the content at this URL: https://github.com/ros-simulation/stage_ros/pull/63/commits/52d894eb3d322e7d86b380db6d8c4432a69ab8ab 2.Modify the static tf transformation statements in the dyn_obst_costmap_conversion.launch file related to the 'location file' to node pkg="tf" type="static_transform_publisher" name="perfect_loc_robot" args="0 0 0 0 0 0 /map /robot_0/odom 100, which means changing all transformation parameters to 0.（I cannot retain '<>' as it seems to cause this line of code to be missing in the response.） Now you can use this instance normally. I haven't checked the other instance yet to find the solution.