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Location date
? You mean Location data
, right?
In the ROS Navigation Stack, the basic tf is map->odom->base_link
, the encoders in your robot can get odometry infomation, from which you can get the pose of base_link
relative to odom
.
And with Ubisense
, you can get the position of base_link
relative to map
. With this position, you can adapt map->odom
to make your robot's position right.
I guess Ubisense
uploads the robot position to your computer(which runs ROS) through USB or Serial Port. After reading that info, you need to write a Publisher
program to publish your position to ROS(say topic /Ubisense/Pose
). This position info should in the geometry_msgs/Pose
format.(or other similar format).
And then, you need a tf
program which subscribes the topic /Ubisense/Pose
, and broadcast the tf map->odom
.
Good Luck.