Absolute position of girona500 in uwsim

uwsim

asked 2014-08-06 08:00:01 -0500

Mind_hunter
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how to find the absolute position of a moving robot in uwsim?Is there is any inbuilt interface?

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answered 2014-08-08 11:45:08 -0500

Mario Prats
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Right, it seems now all poses get published over tf. Try this: rosrun tf tf_echo /world /girona500 Also, to set the vehicle pose directly, use the setVehiclePosition example instead of setVehicleVelocity, like this: rosrun uwsim setVehiclePosition /dataNavigator 2 0 0 0 0 0

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answered 2014-08-07 11:18:02 -0500

Mario Prats
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UWSim uses ROS topics to communicate externally. Have a look to the cirs.xml scene, there is a pose publisher on "/g500/pose", and an odometry publisher on "/dataNavigator".

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On using [ $ rosrun UWSim setVehicleVelocity /dataNavigator 0.1 0 0 0 0 0 ] only velocity is published on /dataNavigator and pose field remains the same [0 0 0 0 0 0]. If i m not wrong, inside nav_msgs pose designate position/orientation and twist designate velocity linear/angular . At the same time , using [rostopic echo /g500/pose] no messages are shown. So setVehicleVelocity interface is not publishing on "/g500/pose".

Mind_hunter ( 2014-08-08 00:16:48 -0500 )edit

Got it. Actually i was using setVehicleVelocity to set the vehicle in motion and know its position at each instant to time so that i can change its orientation at any instant and then move again .Thanks a lot

Mind_hunter ( 2014-08-09 00:42:10 -0500 )edit

How did you solve it? I am trying to make it work with teleop.