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Tracking robot position during teleoperation

asked 2014-02-18 06:16:36 -0600

RB gravatar image

updated 2014-03-02 16:36:49 -0600

Hi, I want to track robot's current position when it is moved by teleop( which we can view in rviz window as well)

ROS automatic behavior also need to perform similar kind of stuff during goal position achievement.

So, now which packages or exactly which part of ROS does similar kind of stuff? (THIS HAS BEEN SORTED OUT WHICH IS amcl)

Where the processing related to comparison of current goal (x,y,z) and sub goal is done?

Where the goal and subgoal location is stored in move_base package?

Question:3 SO WHENEVER I CLICK SET GOAL in RVIZ, where does the GOAL LOCATION is SAVED EXACTLY?

Thank you for any kind of help.

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answered 2014-02-18 06:24:55 -0600

ahendrix gravatar image

updated 2014-02-19 06:24:47 -0600

ROS navigation usually uses AMCL to track and publish the location of the robot, in combination with the robot's odometry.

AMCL usually publishes the position of the robot as a TF transform from the /map frame to the /base_link frame.

To understand how rviz interacts with the navigation stack, take a look at http://wiki.ros.org/navigation/Tutori...

You can also use the rostopic, rosnode and rqt_graph tools to introspect a running system, to see which topics exist and how they're connected.

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@thanks for the answer. I have gone through http://wiki.ros.org/amcl. I think by listening into the amcl_pose topic, we can get the robot's position wrt the map. Global plan is completed before the robot movement in rviz; so whenever I click set goal in rviz, I need that goal location to be saved in some text file. In amcl_node.cpp, I only found some gui_publish_period, can't able to locate exactly how various navigation packages interacts dynamically with rviz. I only know that last plan is computed by navfn package. Is there any material or paper related to this issue?

RB gravatar imageRB ( 2014-02-18 19:51:47 -0600 )edit

Does anyone have the answer for 3rd Question?

RB gravatar imageRB ( 2014-03-02 16:39:11 -0600 )edit

You should be able to find the goal topic by reading the rviz tutorial that I linked to. Read section 4 carefully.

ahendrix gravatar imageahendrix ( 2014-03-02 19:34:46 -0600 )edit
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answered 2014-03-02 19:21:31 -0600

Regarding your 3rd question: The Nav Goal is published on the topic that is specified in the "Tool Properties" panel (To change: click on "Panels", then "Tool Properties") The default topic name is "/move_base_simple/goal". Other than publishing on that topic, the goal location is not saved in rviz, so it would be up to you to listen to that topic and do something with it. Of course, move_base also listens to that topic and uses it to compute a plan to the goal.

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@Stefan Kohlbrecher, which node (or package) actually publish to the topic "/move_base_simple/goal"? Thanks in advance.

RB gravatar imageRB ( 2014-04-07 21:22:40 -0600 )edit

rviz, if you use rviz to specify a nav goal.

Stefan Kohlbrecher gravatar imageStefan Kohlbrecher ( 2014-04-07 23:05:04 -0600 )edit

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Asked: 2014-02-18 06:16:36 -0600

Seen: 1,365 times

Last updated: Mar 02 '14