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Hi ,I am new for ROS and SLAM, also I need to finish SLAM and navigation with PEPPER.So I hope I can ask you some questions,thx. Firstly, the map you used is built by TurtleBot Robot or the Pepper robot with the TurtleBot package? Secondly,how do you solve the issue——"Cannot transform from map to base_footprint"? Thirdly,In the book of ROS BY EXAMPLE, there are some sentences like "some robots like the TurtleBot uses the robot_pose_ekf package to combine wheel odometry and gyro data to get a more accurate estimate of the robot's position and orientation.in this case, it is the robot_pose_ekf node that publishes that publishes the trasform from /odom to /base_footprint."maybe these can help to solve the issue——"if I set the global frame id ad base_link or base_footprint, the robot can move but the odom can not match with the map",not sure just suggest. The last one ,If I want to code for my Pepper,can I copy the turtleBot package and then modify by myself? Hope for your answers,thx a lot.