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robot_pose_ekf

asked 2015-04-20 08:57:03 -0500

sophye_turtlebot gravatar image

hello, I'm using turtlebot, distro hydro,i did the stack navigation with odometry, now i want working with odom-combined (robot_pose_ekf), is there anyone who did that, can help me.i didn't know what changes do I need to do. Is what I have to change all odometry term to odom_combined term, and remove the transformation between odom and base-footprint since robot poses ekf node will make the transformation between odom_combined and base-footprint Any help please !

Thanks in advance

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answered 2015-04-21 02:36:36 -0500

sophye_turtlebot gravatar image

Thanks for your response :) what I understood so the only role of the robot_poses_ekf is the transformation which he offers between odom combined and basefootprint. So in the stack navigating we didn't need to work with odom_combined ? we must keep the odom parameter (for example for the local costmap in the global_frame) in fact my work is to compare two trajectories done by a robot one with Odom and the other with the odom_combined.

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answered 2015-04-20 09:39:55 -0500

Naman gravatar image

updated 2015-04-20 09:59:59 -0500

You have to make sure that you are consistent with the odometry term, does not matter if it is odom or odom_combined as long as it is same throughout.
Yes, you do not have to provide the transformation, robot_pose_ekf will do that.
Check this out : http://answers.ros.org/question/11682...

Hope it helps.

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Thanks for your response :) what I understood so the only role of the robot_poses_ekf is the transformation which he offers between odom combined and basefootprint. So in the stack navigating we didn't need to work with odom_combined ? we must keep the odom parameter (for example for the local costm

sophye_turtlebot gravatar image sophye_turtlebot  ( 2015-04-21 02:37:00 -0500 )edit

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Asked: 2015-04-20 08:57:03 -0500

Seen: 260 times

Last updated: Apr 21 '15