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AFAIK there is no ROS package which make the transform between two poses with uncertainty (perhaps [[bfl]] but I don't think so). Because of this the package pose_cov_ops seems unique. I belive that the MRPT ([[mrpt-ros-pkg]]) in which the pose_cov_ops package is based looks very powerful handling poses with uncertainty and ROS should take advantage of this fact.

I think that this package should be integrated in the generic [[tf2]] package as a plugin like the kdl package was integrated (see https://kforge.ros.org/geometry/experimental/file/40be50217595/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h). Perhaps the [[tf2]] package should be refactored to support more explicitly the inverse tranformation or at least the unary inverse transform.

Regards.

AFAIK there is no ROS package which make the transform between two poses with uncertainty (perhaps [[bfl]] http://ros.org/wiki/bfl but I don't think so). Because of this the package pose_cov_ops seems unique. I belive that the MRPT ([[mrpt-ros-pkg]]) in which the pose_cov_ops package is based looks very powerful handling poses with uncertainty and ROS should take advantage of this fact.

I think that this package should be integrated in the generic [[tf2]] http://ros.org/wiki/tf2 package as a plugin like in a similar way that the kdl package was integrated (see https://kforge.ros.org/geometry/experimental/file/40be50217595/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h). Perhaps the [[tf2]] tf2 package should be refactored to support more explicitly the inverse tranformation or at least the unary inverse transform.

Regards.

AFAIK there is no ROS package which make the transform between two poses with uncertainty (perhaps http://ros.org/wiki/bfl but I don't think so). Because of this the package pose_cov_ops seems unique. I belive that the MRPT ([[mrpt-ros-pkg]]) in which the pose_cov_ops package is based looks very powerful handling poses with uncertainty and ROS should take advantage of this fact.

I think that this package should be integrated in the generic http://ros.org/wiki/tf2 package as a plugin in a similar way that the kdl package was integrated (see https://kforge.ros.org/geometry/experimental/file/40be50217595/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h). Perhaps the tf2 package should be refactored to support more explicitly the inverse tranformation or at least the unary inverse transform.

Edit: Definitely I think you can find what you are looking for in the source code of the package http://ros.org/wiki/robot_pose_ekf

Regards.