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displaying the robot's actual trajectory in RViz

asked 2015-07-08 10:51:25 -0500

Naman gravatar image

Hi all,

I have a mobile robot which is navigating around a room, I already have the map of the room. I am using rotary encoders for odometry. I am fusing the data from Rotary encoders and IMU using robot_pose_ekf. I am using amcl for localization and move_base for planning with SBPL Lattice Planner as the global planner and Trajectory Planner as the local planner. Now when I run RViz, I can visualize the global plan (desired trajectory) generated by move_base but I would also like to visualize the actual trajectory (based on odometry data and amcl) followed by the robot in RViz. I want to do this so that I can see how much is the actual trajectory different from the desired trajectory. Is there any package in ROS which does this (I am not able to find any such package)? If not, what is the best way to visualize the robot's actual trajectory in RViz? Any help will be appreciated.

Thanks in advance.
Naman Kumar

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answered 2015-07-08 10:59:39 -0500

hector_trajectory_server does what you request. See also this other older Q/A. :)

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Thanks @Stefan! It worked like a charm :)

Naman gravatar image Naman  ( 2015-07-13 09:15:09 -0500 )edit

works for me too. Thanks for sharing!

rosRabbit gravatar image rosRabbit  ( 2015-09-08 01:19:51 -0500 )edit

Could you give me some guidance on how to use this node (or Tutorial on using this node)?@Stefan

peigong gravatar image peigong  ( 2017-08-31 07:51:26 -0500 )edit

answered 2015-07-08 11:08:31 -0500

David Lu gravatar image

Visualize the odometry in rviz with history?

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This method could work when odometry information is published. But sometimes, there is no such topic. So we have to use other method. The above method could work!

rosRabbit gravatar image rosRabbit  ( 2015-09-08 01:21:00 -0500 )edit

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Asked: 2015-07-08 10:51:25 -0500

Seen: 1,685 times

Last updated: Jul 08 '15