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The slam_toolbox for ROS2 foxy does not publish the topic pose. [closed]

asked 2023-01-07 19:57:37 -0600

BlueBird
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I notice that the slam_toolbox for ROS2 foxy does not publish the topic pose (https://github.com/SteveMacenski/slam...). I have confirmed it on my own virtual machine with the apt-get package. As far as I know, SLAM means mapping and localization. Where does the robot pose goes if the toolbox doesn't publish it? Can I get it from the TF?
May I use the pose map->Odom->base_link? Is it the same pose published on the pose topic for ROS galactic, humble and rolling?

A similar question can be found on this.

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Closed for the following reason duplicate question by stevemacenski
close date 2023-01-09 13:11:38.557697

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Don't cross post (https://github.com/SteveMacenski/slam...).

stevemacenski ( 2023-01-09 13:11:46 -0600 )edit

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answered 2023-01-08 12:28:56 -0600

ljaniec

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updated 2023-01-09 06:01:33 -0600

Yes, you can see here on the picture below, where the robot info goes.

image description

Yes, you can get it from /tf topic.

You can read more about the state estimate here, in Nav2 documentation:

https://navigation.ros.org/concepts/i...

The goal of odometry is to provide a smooth and continuous local frame based on the robot's motion. However, it will drift over time as errors accumulate.

On the other side, transformation map->odom can "jump" between values, but is usually more precise - it is provided by the positioning system (localization, mapping, SLAM).

I don't know about any differences between the mentioned versions of ROS2 (Foxy, Galactic, Humble) - the interface is really similar or overall the same.

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Asked: 2023-01-07 19:57:37 -0600

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Last updated: Jan 09 '23

The slam_toolbox for ROS2 foxy does not publish the topic pose. [closed] edit

Closed for the following reason duplicate question by stevemacenski close date 2023-01-09 13:11:38.557697