ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

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

edit retag flag offensive close merge delete


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

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

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

1 Answer

Sort by ยป oldest newest most voted

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.

edit flag offensive delete link more

Question Tools



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

Seen: 1,054 times

Last updated: Apr 29 '16