p3at

[Daniel Chavez]

Just purchased a Pioneer3AT and have begun simulations with your working demo, thanks for building this community. One question: I have posted the following on ROS with no help. 

Running rosrun rqt_tf_tree rqt_tf_tree shows there are two base_link frames (two tf trees): Pioneer3AT/base_link and Pioneer3AT/Pioneer3AT/base_link, which causes two trees. I can't figure how to resolve this to one frame, such that there is one tf tree. I can't find Pioneer3AT/Pioneer3AT/base_link in any of the stack code. It only appears in the tf tree. I have avoided asking you directly, but I have exhausted all other means. Thanks, 

Daniel.

[Reed Hedges]

Hi Daniel, are you using p2os or rosaria node to communicate with the robot?  There is a fork of rosaria here that uses different namespacing on the topics and, I think tf's, though it hasn't been decided yet whether to use it or something similar, but you could test and I'd be interested to hear if it changes the tf trees: https://github.com/moresun/rosaria ("master" branch)

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http://www.ros.org/wiki/sig/robots/Pioneer

[daniel.jos...@gmail.com]

I am using rosaria. I have switched to indigo. I will let you know how my testing is with indigo. I am keeping the build on hydro. I will try on both and get back to you. 

Also, found the work around with help from Gustavo. Do the following:

Using the launch/core/urdf.launch listed here: https://github.com/dawonn/ros-pioneer... on git. A user needs to Look at line 6: This puts a prefix on published transforms from this node. Removing it or changing value to "", takes out undesired "Pioneer3AT".

A possible second fix, modify xacro file listed here: https://github.com/dawonn/ros-pioneer... on line 12, chassis link already has Pioneer3AT in its name. Try renaming it just to "base_link" after cloning the ros-pioneer3at repo to the workspace and modify it there. I will update with second fix for a cleaner solution provided by Gustavo Adolfo Velasco Hernández.