how to publish data to /odom using python?

asked 2015-05-28 21:05:37 -0500

krishna43 gravatar image

Hello all,

I'm trying to write a script for Robot Butler. BUt i'm facing a few problems. Once the Robot has served enough people, i want th robot to go back to its inital position to get it filled. I have saved the initial position, but I don't know how to use this information to make the robot to go to its initial position.

Can someone help me?

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I'm not sure how publishing odom exactly relates to this problem. If you "saved the initial position" there likely is already odom. Can you elaborate on what exactly you did and what you want to achieve?

dornhege gravatar imagedornhege ( 2015-05-29 02:26:45 -0500 )edit

Hey,

I'm trying to make the robot return to the initial position once it served enough people. i tried saving the initial position and publishing the initial position to the /odom topic. But it didn;t work.

Is there any other way i can make the Robot go back to the initial position?

krishna43 gravatar imagekrishna43 ( 2015-05-31 14:33:44 -0500 )edit

/odom only reports, where the robot is, not where it goes. You need to use navigation components like move_base. Basically the same that you used to serve people.

dornhege gravatar imagedornhege ( 2015-06-01 03:38:48 -0500 )edit

Thanks for your suggestion. I will look into it.

And do i need to use any path planning algorithms or inverse dynamics to move Robot from point B to point A?

krishna43 gravatar imagekrishna43 ( 2015-06-01 20:16:51 -0500 )edit

You will probably need something like that. That is what move_base is for. But you should already have that if your robot drove away somewhere in the first place.

dornhege gravatar imagedornhege ( 2015-06-02 03:18:09 -0500 )edit

So, i just need to publish data to move_base topic,Right?

krishna43 gravatar imagekrishna43 ( 2015-06-02 10:57:14 -0500 )edit