Position monitoring using move_base.

Is there a way where in which the map co-ordinates (x,y locations) on the map frame can be extracted continuously along the planned path the robot follows to reach its goal position?

I.e. if the robot is moving from location A to B on the map frame (by following the planned path), does there exit any method wehre in which I could be able to get a timely feedback of the map location it is currently present at along the path it takes to reach B?

Ex: if I'm getting a feedback every two seconds and it takes twenty seconds to reach B from A, then i would have ten locatons values along the path the robot traced including the location values of A , B.

Thanks.

Asked by spiritninja on 2019-07-10 00:49:52 UTC

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Afair, not in move_base and not out-of-the-box. But you could simply create a node that retrieves the tf from map to base_link and records it with the settings you want. You'd need to trigger somehow when to start recording and when to delete, though.

Asked by mgruhler on 2019-07-10 00:58:05 UTC

Oh! Thank you @mgruhler thats sounds promissing. Could i know how I could be able to retrieve tf data through code?

Asked by spiritninja on 2019-07-10 01:18:45 UTC

@spiritninja you need to write a tf_listener. There are tutorials for python and C++ available.

Asked by mgruhler on 2019-07-10 01:40:57 UTC

Position monitoring using move_base.

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