Is there a topic that publishes the current pose of the turtlebot?
robot_pose_ekf/odom doesn't give the pose relative to the global frame. amcl_pose doesn't give the pose when the robot is stationary.
What should I do to get the robot pose when the robot is stationary? Should I get the value from robot_pose_ekf/odom and then use the transform from /odom to /map as given by the /tf topic???
It would help us if you could also identify the goal of seeing this information. If you're trying to see this information in a terminal, you can use:
rosrun tf view_frames /map /odom
or
rosrun tf view_frames /map /base_link
If you're trying to do this in code, you can perform this lookup in code as well.
// Look up transform between base link and the map frame.
tf::StampedTransform xform;
try
{
// The waypoint frame is the source frame
tf_.lookupTransform("/map", "/base_link", ros::Time(0), xform);
}
catch (tf::TransformException ex)
{
ROS_ERROR("%s", ex.what());
}
Asked: 2012-03-28 05:13:57 -0500
Seen: 308 times
Last updated: Mar 28 '12
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