Setting an Odometry Offset for robot_localization
Hello all,
I'm running a husky simulator with multiple robots, so each robot is starting in a different place. However, when I start each robot, the initial position is not reflected under the odometry/filtered topic. In other words, the odometry for all robots starts at (0,0,0) in a 3D coordinate system. I'd like to change this. So for a robot starting at (2,2,0), how can I get the odometry reading to match this? I can use the set_pose topic to give an initial value, but that takes an extra step.
And to add complexity, I'm now using the navsat_transform_node. With this in use, the set_pose topic works for an instant, but then odometry returns back to the previous value.
I'm happy to give any more information which might be helpful.
Thanks all!
Have you ever found a solution to your problem? Currently looking at something similar myself
i am also searching for a solution to this problem, did you figure out something?
@miROS since i have access to an IMU I am using north as a reference to determine the location for each unit since i know the center distance and getting a offset that would result in global(0,0) when the offsets are added to local(0,0)
example Local(0,0) = global (3,-1). xoffset=distancecos(theta) yoffset=distancesin(theta) local(0+xoffset, 0+yoffset)= global (0,0) local(-3, 1)= global (0,0)