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MuSHR

MuSHR is an open-source robotics platform for learning and researching AI with autonomous vehicles.

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MuSHR TF

February 4, 2021 at 5:56am
Hello, I am writing to ask how MuSHR establishes TF among team projects using MuSHR. I want to know in detail how to set coordinates and build them up. Thank you.

February 4, 2021 at 2:07pm
Hi (yyyyglee)! Thanks for reaching out, but I'm not sure I undertstand your question completely. Are you referring to teams of cars? Which coordinates are you referring to?

February 5, 2021 at 4:37am
We are doing a mission to change the hardware of MuSHR as a team in the self-driving competition. As hardware changes, the location of 'base_footprint' and 'base_link' remained the same, but I understood that the location of the lidar changed and the coordinates of 'base_scan' should be changed. I'd like to know how to change it in a file. Thank you.

February 6, 2021 at 12:53am
You can refer to http://wiki.ros.org/tf/Tutorials and http://wiki.ros.org/urdf/Tutorials. Or you can google tf or urdf as a keyword.
Edited

February 6, 2021 at 8:18am
Hi (yyyyglee) - the transform between the base_link and laser is defined here: https://github.com/prl-mushr/mushr/blob/master/mushr_description/robots/mushr_nano.urdf.xacro#L128
I believe that you will need to recompile the URDF after making any changes, which you can do by running catkin_make in the root of your workspace