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Hi all, In usage of Gmapping with turtlebot3 simulation procedure.
In Rviz after startup the whole system,
How did the /map or /odom frame assumed to be there (in the center of the pre-estimated map )? In other word, how the robot estimated that the /footprint frame is far aways from the map frame with specific transformation values, however the gmapping just start to run ?
This issue is only related with simulation processes.
Because : When I implement Gmapping on Turtlebot3, everything is okay with the initialization of frames values:
/map is fixed (0,0,0)
/odom is begin as (0,0,0) and drift due to encoder uncertainties
/Base_link (/footprint) represent the position of the robot relative to /odom and /map respectively.
So in practical process everything is alright.
It's the origin of the world. In that turtlebot3_world the origin is in that center pillar.
I don't know if there is a setting to use the position of the robot as its origin (as done when mapping in real life).
Asked: 2022-05-22 08:45:26 -0600
Seen: 89 times
Last updated: May 24 '22
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