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The initial pose is meant as an initial estimate for localization or SLAM relative to a given fixed frame (usually NOT odom), while odometry usually is a continuous relative movement of the robot. So this is not meant as a "reset odometry" function.

The cleanest/correct way would be to receive the initial pose (this is just a pose message published on a topic) and when this arrives: Record the odometry at that pose, Remember the given initial pose. And for any following odometry messages calculate the relative odometry to the odometry at the initial pose and add that relative shift to the initial pose.