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Hi, I think if you are running directly the RosAria node without modification (running the code in opt) for your robot, the odometry will be updated but the covariance will be always published as 0. The controller don't include the covariance information.

If you need to have a covariance value included in the odometry information for some reason, You can create your own controller based in the RosAria and add the covariance value. Something like:

tf::poseTFToMsg(tf::Pose(tf::Quaternion(pos.getTh()*M_PI/180, 0, 0),  tf::Vector3(pos.getX()/1000, pos.getY()/1000, 0)), position.pose.pose); //Aria returns pose in mm.
  position.pose.covariance =  boost::assign::list_of(1e-3) (0) (0)  (0)  (0)  (0)
                                                       (0) (1e-3)  (0)  (0)  (0)  (0)
                                                       (0)   (0)  (1e6) (0)  (0)  (0)
                                                       (0)   (0)   (0) (1e6) (0)  (0)
                                                       (0)   (0)   (0)  (0) (1e6) (0)
                                                       (0)   (0)   (0)  (0)  (0)  (1e3) ;

  position.twist.twist.linear.x = robot->getVel()/1000; //Aria returns velocity in mm/s.
  position.twist.twist.angular.z = robot->getRotVel()*M_PI/180;
  position.twist.covariance =  boost::assign::list_of(1e-3) (0)   (0)  (0)  (0)  (0)
                                                      (0) (1e-3)  (0)  (0)  (0)  (0)
                                                      (0)   (0)  (1e6) (0)  (0)  (0)
                                                      (0)   (0)   (0) (1e6) (0)  (0)
                                                      (0)   (0)   (0)  (0) (1e6) (0)
                                                      (0)   (0)   (0)  (0)  (0)  (1e3) ; 


  position.header.frame_id = frame_id_odom;
  position.header.stamp = ros::Time::now();
  pose_pub.publish(position);