Using the estimated robot pose from robot_pose_ekf with amcl

asked 2015-04-29 15:48:38 -0600

1464 ●96 ●119 ●139 http://www.namankmr.com/

updated 2015-05-01 10:56:03 -0600

Hi all,

I am using robot_pose_ekf to fuse data from Wheel encoders and IMU to estimate the 3D pose of the robot. Then, I am using amcl to take care of odometry drift and finally the move_base package does the navigation. I am generating the odom message of the type nav_msgs/Odometry from the wheel encoders which is used by the base_local_planner. I know robot_pose_ekf provides odom_combined to base_link transformation which is used by amcl.
My question is once robot_pose_ekf fuses the data from wheel encoders and IMU and generates the estimated 3D pose of the robot of the type geometry_msgs/PoseWithCovarianceStamped on the topic robot_pose_ekf/odom_combined, how and where is this output used in the navigation package as a whole (move_base or amcl)?

Thanks in advance.
Naman Kumar

answered 2015-05-01 12:48:50 -0600

bvbdort

3034 ●32 ●43 ●58

amcl dont use geometry_msgs/PoseWithCovarianceStamped message. Its nothing but tf from odom_combined -> base_link combined with covariance. As you mentioned amcl get the same pose from tf and amcl doesnt need pose covariance.

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Thanks! So, basically the estimated robot pose from robot_pose_ekf is not used anywhere, its just the transformation between odom_combined and base link (which contains all the relevant information) which is used by amcl, right?