$ cd ~/SnowCron/ros_projects/harsh
$ colcon build --packages-select navigation_bot_01
$ source install/setup.bash
$ ros2 launch navigation_bot_01 launch_sim.launch world:=src/worlds/maze.sdf
Verify: You should see the odometry/filtered, accel/filtered, and /tf in the list of the topics.
$ ros2 node list
/camera_controller
/demo/imu_plugin
/depth_camera_controller
/diff_drive
/ekf_filter_node
/gazebo
/joint_state_publisher
/robot_state_publisher
/rviz2
/scan
/transform_listener_impl_55928c121880
/transform_listener_impl_56099171bb50
$ rqt_graph
To see the coordinate frames, type the following command in a terminal window.
$ ros2 run tf2_tools view_frames.py
[INFO] [1673121838.859750817] [view_frames]: Listening to tf data during 5 seconds...
[INFO] [1673121843.865506825] [view_frames]: Generating graph in frames.pdf file...
[INFO] [1673121843.869547427] [view_frames]: Result:tf2_msgs.srv.FrameGraph_Response(frame_yaml="base_link: \n
parent: 'base_footprint'\n
broadcaster: 'default_authority'\n
rate: 10000.000\n
most_recent_transform: 0.000000\n
oldest_transform: 0.000000\n
buffer_length: 0.000\nbase_footprint: \n
parent: 'odom'\n
broadcaster: 'default_authority'\n
rate: 10.183\n
most_recent_transform: 102.343000\n
oldest_transform: 97.433000\n
buffer_length: 4.910\ncamera_link: \n
parent: 'base_link'\n
broadcaster: 'default_authority'\n
rate: 10000.000\n
most_recent_transform: 0.000000\n
oldest_transform: 0.000000\n
buffer_length: 0.000\n
camera_link_optical: \n
parent: 'camera_link'\n
broadcaster: 'default_authority'\n
rate: 10000.000\n
most_recent_transform: 0.000000\n
oldest_transform: 0.000000\n
buffer_length: 0.000\n
depth_camera_link: \n
parent: 'base_link'\n
broadcaster: 'default_authority'\n
rate: 10000.000\n
most_recent_transform: 0.000000\n
oldest_transform: 0.000000\n
buffer_length: 0.000\n
depth_camera_link_optical: \n
parent: 'depth_camera_link'\n
broadcaster: 'default_authority'\n
rate: 10000.000\n
most_recent_transform: 0.000000\n
oldest_transform: 0.000000\n
buffer_length: 0.000\n
imu_link: \n
parent: 'base_link'\n
broadcaster: 'default_authority'\n
rate: 10000.000\n
most_recent_transform: 0.000000\n
oldest_transform: 0.000000\n
buffer_length: 0.000\n
lidar_link: \n
parent: 'base_link'\n
broadcaster: 'default_authority'\n
rate: 10000.000\n
most_recent_transform: 0.000000\n
oldest_transform: 0.000000\n
...
In the current working directory, you will have a file called frames.pdf. To open that file:
$ evince frames.pdf