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best way to compare two pose estimates from different sources

asked 2015-11-10 16:45:39 -0500

Naman gravatar image

Hi all,

I have a mobile robot with navigation_stack up and running. The robot is able to navigate properly from point A to point B. I am using encoders to get the odometry data and IMU, encoders and Lidar (AMCL) using robot_localization to localize the robot and move_base for planning. Now, I have a Ultrawide band sensor which gives the pose of the robot in the global frame. I want to compare the pose estimated by UWB sensor and the actual pose of the robot (output of robot_localization)(both gives pose_estimate in the map frame). Both poses are of the form of nav_msgs/Odometry. I know I can subscribe to both topics and compare the pose values from both of them and see how different they are. I was just wondering if there is a standard way or a better way to compare two pose estimates of the same type coming from different sources. Any suggestions regarding it will be appreciated.

Thanks in advance.
Naman Kumar

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The values are going to be time stamped from both, correct? I usually use MATLAB for something like this. You can eyeball it with rviz, but MATLAB is great for this kind of thing.

Tom Moore gravatar imageTom Moore ( 2015-11-12 19:29:02 -0500 )edit

I want to know this answer too... can you update? thanks.

asimay_y gravatar imageasimay_y ( 2016-03-08 20:10:08 -0500 )edit

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answered 2016-04-29 07:09:44 -0500

Tom Moore gravatar image

Python is a great alternative for this as well. You can read directly from bag files and use any number of plotting tools to visualize the data you desire.

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Asked: 2015-11-10 16:45:39 -0500

Seen: 444 times

Last updated: Apr 29 '16