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Hi, have a look here ->link text

ekf node is used for sensorfusion, you only pass in one source odom in one case gps in another. You can just use odom topic for whatever you use the output of the ekf node in your case, or fuse it with IMU data. Fusing gps with odom is a whole topic on its own (you might already know this link text ).Sensorfusion is made to get higher quality data in general. The localization you seem to be looking for is usually published by nodes like acml, rtabmap etc. (have a read here: link text there output is used to correct odom errors that accumulate over time, this approaches should be more accurate then gps by a lot, also Iam not sure gazebeo simulates gps at all (hector_gazebo_plugin, seems to do the trick for some). Base_footprint should be connected to base_link its a flat 2d projection of base_link (for 2d navigation), might not even be nessesary in your case ("base_footprint provides a fairly stable 2D planar representation of the humanoid even while walking and swaying with the base_link.") link text. Finally you need a node to serve a map, as there can be no transform without one. (link text) The map you start in gazebo is not the map the robot gets but only the simulated environment the robot has no clue of, before he maps it himself. Without a map the robot has no space to operate in and in general it doesnt even need to have been maped, just an empty grid map served by a map_server could be enough depending on what you are after. All the best.