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Is there a way I can force the robots to be already localized ?

asked 2015-11-20 18:12:30 -0600

robo_explorer
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I want the robots to be already localized when I start the program. Is there any way for this, so that I do not have to move the robot manually and localize it?

I have two robots and in order to explore with the second robot, I have to localize it first which takes a lot of time. By the time I localize it, the other robot explores whole of the map.

Thanks

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answered 2015-11-23 13:39:23 -0600

Akif

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If you are using amcl, you can set initial pose estimate of the robot by publishing to /initialpose topic. Also there is a visual tool for this in rviz, which is named as "2D Pose Estimate". Is this what you need?

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Yes, I tried clicking he 2D Pose Estimate in hope that my localization will be done faster. But there is no decrease in localization time. By the time I localize it, the other robot finishes whole map. Is there a way, i can manually localize before the program starts?

robo_explorer ( 2015-11-23 14:11:57 -0600 )edit

You can try publishing on /initialpose programmatically or on terminal instead of using rviz. This may result in faster localization. Or you may make the other robot wait until first robot localizes.

Akif ( 2015-11-23 14:29:31 -0600 )edit

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Asked: 2015-11-20 18:12:30 -0600

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Last updated: Nov 23 '15

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Is there a way I can force the robots to be already localized ?