API call for determine new map position
Hi,
Other than using standard trig - is there an API call that give the data below say will return the new position to pass to the navigation stack if I command the robot to move 0.5 meters backwards:
position:
x: 1.95812040039
y: 1.32759493657
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.702802831861
w: 0.71138469166
Thanks
Mark
To answer the second part of your question, if you want to send the robot 0.5 metres backwards, you can send a pose command in the frame of the base_link/base_footprint. Assuming x forward, y left, z up, this command would be pos: -0.5 0 0, rot: 0 0 0 1, header/frame_id: base_link.
Otherwise, you can use the transform of
base_link -> odom/mapto get your position.