robot_pose_ekf output to fake_localization

asked 2014-05-09 04:18:11 -0600

Hansg91
1889 ●51 ●65 ●87

updated 2014-05-09 04:18:24 -0600

Hey,

I have robot_pose_ekf running and accepting wheel odometry and imu data and it is publishing on /robot_pose_ekf/odom just fine. I was wondering however what the idea of this output was, I was expecting nav_msgs/Odometry as output, because fake_localization takes this as input. Am I conceptually doing something wrong here?

Best regards, Hans

answered 2014-05-09 15:18:08 -0600

Tom Moore

flag of United Kingdom of Great Britain and Northern Ireland

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

robot_pose_ekf produces a PoseWithCovarianceStamped message. This is due to the fact that robot_pose_ekf does not include linear or angular velocities in its state estimate; it only estimates the pose (x, y, z, roll, pitch, yaw) of the robot. You should change your callbacks to accept PoseWithCovarianceStamped messages.

If you need an Odometry message, though, I would encourage you to try the robot_localization package.

edit flag offensive delete link

Comments

I also have a similar problem. In order to change the callback to accept PoseWithCovarianceStamped, should I basically change the type of base_pose_ground_truth in this file ?

ROSCMBOT ( 2014-09-11 16:29:57 -0600 )edit

I'm afraid I'm not familiar with fake_localization. I'd ask this as a new question.