4-wheel robot localization in global

asked 2015-04-07 14:02:07 -0500

crazymumu gravatar image

updated 2015-04-07 14:05:20 -0500

image description I have odometry_publish node to subscribe velocity from vfh_node with cmd_vel topic; publish the tf between robot between global original point;

And target_tf_node subscribe tf from odometry_publish node to compute target position into robot's frame and publish target position(robot frame) with topic target_theta.
---------this step is localization, because get tf to know where the robot in global frame so that transform target into robot frame.

vfh_node subscribe target position from target_tf_node and obstacle information from laser sensor node, manipulate those data to determine a velocity publish through cmd_vel topic which drive the robot in gazebo.

I just want to know is that idea ok? or just tf information is not enough for localization and lead to big error in robot's location.

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