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Move Robot Base

asked 2015-01-04 16:05:06 -0500

newcastle gravatar image

I want to move robot_base to some position. I am reading this page and wondering what the difference between 2.4 and 2.5 is. I mean one way I can do is to publish velocity command to base_controller/command but while I am reading this page, it seems like another way I can do is to publish to "odom". I am not sure what is the right way to do.

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answered 2015-01-04 19:16:07 -0500

The odometry source (2.4) is the result (displacement) of the command (cmd_vel) that is executed by the base controller (2.5). So you tell your robot to go 1 m/s and the odometry source reports that has travelled 1 m after 1s, 2m after 2s, etc. Is that clear?

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so if I want to move the robot 1m, which way is better between using (cmd_vel) or publishing to odom?

newcastle gravatar image newcastle  ( 2015-01-04 19:34:35 -0500 )edit

odometry is the estimate of the pose of the robot so publishing to odom will not move the robot. Publishing a cmd_vel and checking the odometry estimate can ensure you stop when you get to 1m.

tonybaltovski gravatar image tonybaltovski  ( 2015-01-04 19:43:59 -0500 )edit

yea, that makes sense. However, over here, under "Creating our own odometry," they seems to have a way to move the robot by publishing to odom.pose.pose

newcastle gravatar image newcastle  ( 2015-01-04 20:07:21 -0500 )edit

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Asked: 2015-01-04 16:05:06 -0500

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Last updated: Jan 04 '15