Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Navigation stack, local_planner and odometry: covariance all zeros ok?

asked 2014-04-24 07:56:36 -0500

Rick Armstrong
567 ●27 ●34 ●43

Hello,

We're just getting started tuning the navigation stack for this robot. We're publishing odometry as described here, and so far, so good. I'm confused about something though: in the code, we're broadcasting nav_msgs/Odometry messages without setting the covariances (i.e. they're all zeros).

My question: is this the correct thing to do?

Thanks in advance,

Rick

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2014-04-28 05:59:15 -0500

Tom Moore

flag of United Kingdom of Great Britain and Northern Ireland

13689 ●74 ●240 ●232 http://github.com/ayrton04

It depends on what you're doing with those messages. If you have another node that just needs the odometry information (like rviz), then the covariances are superfluous. If you want to fuse that data with other sources, then most algorithms will require the covariances to be non-zero. You may also be interested in having that information for debugging purposes.

edit flag offensive delete link

Comments

Thanks, Tom.

Rick Armstrong ( 2014-05-07 20:22:07 -0500 )edit

add a comment

Question Tools

1 follower

Stats

Asked: 2014-04-24 07:56:36 -0500

Seen: 206 times

Last updated: Apr 28 '14

Navigation stack, local_planner and odometry: covariance all zeros ok? edit

1 Answer

Comments

Question Tools

Stats

Related questions

Navigation stack, local_planner and odometry: covariance all zeros ok?