Interactive pattern wrong reference frame

[Rafafbo]

Hey,
In order to get better collections for calibration purposes, I'm trying to record the rosbag while changing the pattern's position and orientation in Rviz. For that matter, i see that in the interactive_pattern node gets the pattern pose relative to 'world' frame and sets the f feedback pose from Rviz to the same frame. I checked the TF tree and the frame in gazebo is 'odom':

I tried changing 'world' to 'odom' in the 3rd line in code-snippet but it failed
rospy.wait_for_service('/gazebo/get_model_state')
get_model_state_service = rospy.ServiceProxy('/gazebo/get_model_state', GetModelState)
pose_gazebo = get_model_state_service(model_name, 'world')
status_message:
"GetModelState: reference relative_entity_name not found, did you forget to scope\ \ the body by model name?"

Since there is no world frame in Rviz as well, i set the iterative marker.header.frame_id = 'odom' which works, when moving it in Rviz it also moves in gazebo but, as expected, the poses don't match:

Any idea on how to solve this?

[miguelriemoliveira]

Hi @Rafafbo ,

you should mention the code which you changed, like this:

https://github.com/lardemua/atom/blob/d6f163712974654dd1620c2a94743eea8ef798be/atom_calibration/package.xml#L12-L18

That way it is easier to understand ...

[miguelriemoliveira]

I would check the car xacro definition, in particular the place where hodometry is defined. There should be a way to define the name of the odom frame and change it to world.

In any case @manuelgitgomes will know more about this than me ...

[Rafafbo]

Hi @Rafafbo ,

you should mention the code which you changed, like this:

https://github.com/lardemua/atom/blob/d6f163712974654dd1620c2a94743eea8ef798be/atom_calibration/package.xml#L12-L18

That way it is easier to understand ...

Noted!

I would check the car xacro definition, in particular the place where hodometry is defined. There should be a way to define the name of the odom frame and change it to world.

In any case @manuelgitgomes will know more about this than me ...

Yes, I checked it and didn't see any definition of the odom or the world frame.

[miguelriemoliveira]

Perhaps this

atlascar2/atlascar2_description/config/atlascar2_steering_params_odom.yaml

Line 33 in ef7ae5f

odom_frame_id: odom

But only @manuelgitgomes will be able to help. He is quite busy now so probably will only reply next week...

[manuelgitgomes]

Hello @Rafafbo.

Honestly, I am not certain how I did this and, as @miguelriemoliveira stated, I do not have the time to delve into this right now.

However, I found this:

atlascar2/atlascar2_bringup/launch/ackermann_bringup.launch

Lines 16 to 22 in ef7ae5f

	<group if="$(arg calibration)">
	<node name="model_states_to_tf" pkg="atlascar2_odom" type="model_states_to_odomtf.py"/>
	<node name="controller_spawner" pkg="controller_manager" type="spawner"
	args="$(find atlascar2_description)/config/atlascar2_steering_params.yaml">
	</node>
	</group>

When calibrating, for some reason, I use different parameters. Are you setting the arg calibration as true when launching?

[Rafafbo]

Hello @manuelgitgomes

Yes, I tried but same issue with other frames and i don't understand why you made this transform:

atlascar2/atlascar2_odom/nodes/model_states_to_odomtf.py

Lines 23 to 27 in ef7ae5f

	br = tf2_ros.TransformBroadcaster()
	t = TransformStamped()
	t.header.stamp = rospy.Time.now()
	t.header.frame_id = 'odom'
	t.child_frame_id = 'base_footprint'

Anyway, don't worry about it now because I found another way to get good collections!