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Hi guys,
Usually if we were to set the estimated pose of robot we will just reposition it in rviz by simply clicking to relocate it to our desire position. What if I wanted to reposition it programatically? (Not a fixed one.) Or it can be done in terminal? Because somehow I cant relocate myself in the rviz after I put everything together into my robot. Previously it is able to relocate with only one laser.
Thank you so much.
rviz is just providing a GUI for publishing a geometry_msgs/PoseWithCovarianceStamped to the (per default) "/initialpose" topic. You can just as well publish to that using your own code, rqt_publisher or rostopic pub from the command line. If you run rviz and use "2D Pose Estimate" while doing a "rostopic echo /initialpose", you should get something like the following:
kohlbrecher@sk-i7:~$ rostopic echo /initialpose
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: world
pose:
pose:
position:
x: -0.00588150462136
y: 0.947909832001
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.707230093335
w: 0.70698344753
covariance: [0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06853891945200942]
---
Just use whatever tool suits you best to create such a message and publish to "/intialpose" (provided you didn´t remap/change that topic) and your AMCL node should react accordingly.
But the argument will be like ' header.seq header.stamp header.frame_id position.x position.y position.z orientation.x orientation.y orientation.z orientation.w covariance' right? Anyway I've tried '1 0 map 9.0 -2.0 0.0 0.0 0.0 0.707 0.707 0.25' it says -2 has no such option. I guess my argument wasn't wrong.
"1 0 map 9.0 -2.0 0.0 0.0 0.0 0.707 0.707 0.25" ERROR: Not enough arguments: * Given: ['1 0 map 9.0 -2.0 0.0 0.0 0.0 0.707 0.707 0.25'] * Expected: ['header', 'pose']
that's work for me, hope it helps you also
{ header: { frame_id: "/map" }, pose: {pose: {position: {x: 0 , y: 0 , z: 0 } , orientation: {x: 0 , y:0 , z:0 ,w:0} } } }
What you can do is publish a PoseWithCovarianceStamped message on the initialpose topic. You should also change the message frame id to the one expected, usually "/map"
EDIT: Already answered, sorry for double answer
Asked: 2014-01-02 19:53:12 -0600
Seen: 3,946 times
Last updated: Mar 12 '20
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