Turtlebot Gazebo ground truth pose
I want to run a "perfect odometry" simulation of turtlebot in Gazebo. I would like to teleop the robot throughout a world and get the ground truth pose and the depth image. The normal /odom node is subject to error from wheel slip.
I've had look at the /gazebo/link_states topic and managed to extract the ground truth pose but there are no timestamps associated with those messages so I have no way of linking them up with the depth images.
Is there a way to get gazebo to publish the ground truth directly to tf?
Asked by unitjan on 2016-08-25 07:00:22 UTC
Comments
This might help http://answers.ros.org/question/246440/husky-perfect-localization-gazebo-positioning-system/?comment=247207#post-id-247207
Asked by Saurav Agarwal on 2017-06-22 11:30:28 UTC
Hi mate, Excuses me for the long detailed question.
Please, when I teleop my turtlebot3 (without any SLAMing, just navigate it manualy) and record data in a bag file, I see that /odometry topic carried the robot position relative to /odom frame Which is the same data of transformation between /base_link and /odom frames.
My questions is : 1. Is this a filtered (/estimated) position ?
Is it a ground truth data ?
What is the relation between this situation and deadreckoning algorithm ?
(When I run GmappingSLAM) is the transformation data between (/base_link) and (/map) frame, the same as data of topic odmetry mentioned above !!!
In summary , which one is the ground truth and which one is the estimated position ?
Asked by Zuhair95 on 2022-05-23 02:14:58 UTC