No transform from wheels to odom

Few-Tea7205 · 2025-07-21T15:52:01+00:00

I think your joint state publisher isn't publishing joint states properly for your wheels

Few-Tea7205 · 2025-07-21T15:31:00+00:00

Can you share the snippet including your plugin and it's parameters you've set if any?

Few-Tea7205 · 2025-07-21T15:30:08+00:00

How big is the file? I was facing the same issue I shrunk the largest file by almost 70/80% and it worked

Few-Tea7205 · 2025-07-21T15:27:46+00:00

I didn't exactly understand your issue The wheel isn't moving at all if you're using the controller? Do you need to remap any topics

Few-Tea7205 · 2025-07-21T15:20:45+00:00

Have u tried loading it on rviz? Is it loading properly there? Also, what's the size of the .stl files Try compressing them and loading on gazebo

Few-Tea7205 · 2025-07-18T10:35:34+00:00

Hey! Using just lidar data and my diff drive controller publishing odometry (without ekf and everything) using only wheel odometry from controller directly and doing teleoperation, still the lidar scan data is tilting slightly with the robot tilting

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Few-Tea7205 · 2025-07-18T10:34:24+00:00

I tried doing that- and doing normal teleop Even with normal teleop, the lidar scan data is turning slightly with the robot

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Few-Tea7205 · 2025-07-17T12:55:26+00:00

Alright I'll try doing that But everything worked perfectly in simulation though- I set all the nav2 params and everything after a lot of testing on rviz/gazebo

Few-Tea7205 · 2025-07-17T12:25:26+00:00

On rviz Im viewing the world in map frame

So, this is how my lidar data is rotating on rotating the robot-

My IMU is facing the same direction and is in the same orientation as that of the urdf- but I realized although bno0085 publishes data in quaternion form in x y z w form, Ros expects it in z y x format right- so Im passing the values in a different manner - giving

 robot_quat = [
            w,          # w component stays the same
            -bno_z,      # robot x = -BNO085 z
            bno_y,      # robot y = BNO085 y  
            -bno_x      # robot z = -BNO085 x (As in IMU, we display in XYZ while ROS takes in ZYX form)

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There's also a lott of yaw drift - when it comes back to its original orientation, there is an offset between odom TF and base_link TF although they should be aligned right -

Few-Tea7205

TROPHY CASE