更新rviz中显示机器人的配置文件

src/robot_description/config/urdf.rviz

@@ -90,23 +90,26 @@ Visualization Manager:
           Value: true
         lidar:
           Value: true
+        odom:
+          Value: true
       Marker Scale: 0.300000012
       Name: TF
       Show Arrows: true
       Show Axes: true
       Show Names: true
       Tree:
-        base_footprint:
-          base_link:
-            lidar:
-              {}
+        odom:
+          base_footprint:
+            base_link:
+              lidar:
+                {}
       Update Interval: 0
       Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
     Default Light: true
-    Fixed Frame: base_footprint
+    Fixed Frame: odom
     Frame Rate: 30
   Name: root
   Tools: