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odom_config parameter in robot_localization

asked 2015-08-06 03:56:54 -0500

Mehdi. gravatar image

In this tutorial from the robot_localization package, the show a parameter called odom0_config.

<rosparam param="odom0_config">[true, true, false, 
                                false, false, true, 
                                true, false, false, 
                                false, false, true,
                                false, false, false]</rosparam>

<rosparam param="imu0_config">[false, false, false, 
                               false, false, true, 
                               false, false, false, 
                               false, false, true,
                               true, false, false]</rosparam>

In this case X position, Y position, X velocity, X acceleration, yaw, and yaw velocity are set to true. I tried to find the association between those booleans and the variables X Y and Yaw but I couldn't see any logical association. Is that structure for the odom_config defined anywhere?

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answered 2015-08-06 09:20:27 -0500

You can see the relation explained here. Search for the odomN_config, twistN_config, imuN_config, poseN_config bullet.

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Asked: 2015-08-06 03:56:54 -0500

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Last updated: Aug 06 '15