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Reading position of robot through rviz.

asked 2014-07-09 10:48:02 -0500

choog gravatar image

Hello, I have successfully created a 2-d map using rviz. I have also successfully set goal way points for the robot to follow and the robot successfully navigates to them . The task I really need to complete involves me having to read the position of the robot in that 2-d map. I am not sure what node to read this position from though. I think reading from the amcl_pose topic might work, also I am going to pass this information to a tf transform that will take the information and send it to a second robot. I feel I am on the right path. If someone could just tell me if I am using the appropriate topic to read the robots current position on the map?

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answered 2014-07-09 10:53:42 -0500

dornhege gravatar image

If you want to put that into a tf transform usually you don't need to do anything. The robot position is already sent as a tf transform. Usually it's /map -> /base_link or similar.

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I am using a turtlebot 2 with ros groovy. I see the /map topic But I don't see the /base_link topic , I see mobile_base but I don't know if that's the same, because for /mobile_base I see a bunch of other topics.

choog gravatar image choog  ( 2014-07-09 10:59:32 -0500 )edit

Also when I echo what is in /map I get a lot of -1's and that's it. I was expecting a quanterion.

choog gravatar image choog  ( 2014-07-09 11:00:14 -0500 )edit

Those are topics. TF frames are something different. You should check out the tf documentation for more information.

dornhege gravatar image dornhege  ( 2014-07-09 11:46:26 -0500 )edit

According the the tf broadcaster and tf listener tutorial available, Those 2 nodes still subscribe and publish information through topics on turtlesim. I understand all of that. I need to know what topics I need to subscribe to on RVIZ to get readings similar to those tutorials.

choog gravatar image choog  ( 2014-07-09 13:31:30 -0500 )edit

Rviz has a tf plugin that shows you all available tf information.

dornhege gravatar image dornhege  ( 2014-07-10 05:36:08 -0500 )edit

Ok I was able to pull up the information that I need with the tf frames on rviz. Now the question is How do I read specific data only like the /base_link?

choog gravatar image choog  ( 2014-07-10 09:43:21 -0500 )edit

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Asked: 2014-07-09 10:48:02 -0500

Seen: 674 times

Last updated: Jul 09 '14