Getting Coordinates of Turtlebot

asked 2012-04-14 12:29:23 -0600

zlalanne
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updated 2012-04-14 17:17:10 -0600

We have successfully created a map and our robot localizes well using AMCL. Now we want to be able to get the coordinates of the robot once it has localized itself within the map that we supplied. What is the best way to get the coordinates of the robot relative to the map?

Thanks

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answered 2012-04-16 01:52:35 -0600

Eric Perko

8406 ●73 ●90 ●144 http://ericperko.com/

The best way to get the current location of the Turtlebot is using TF. Assuming you are in C++ and already have a tf::TransformListener object as listener, that your robot's local frame is base_link and your map frame is map, you could use a block of code like the following:

geometry_msgs::PoseStamped pBase, pMap;
pBase.header.frame_id = "base_link";
pBase.pose.position.x = 0.0;
pBase.pose.position.y = 0.0;
pBase.pose.orientation = tf::createQuaternionMsgFromYaw(0.0);
ros::Time current_transform = ros::Time::now();
listener.getLatestCommonTime(pBase.header.frame_id, "map", current_transform, NULL);
pBase.header.stamp = current_transform;
listener.transformPose("map", pBase, pMap);
// pMap now contains the pose of the robot transformed into map 
// coordinates according to the TF data available at time "current_transform"

If you are unfamiliar with the TF library, you should read through the tutorials.