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Is there a way I can force the robots to be already localized ?

asked 2015-11-20 18:12:30 -0500

robo_explorer gravatar image

I want the robots to be already localized when I start the program. Is there any way for this, so that I do not have to move the robot manually and localize it?

I have two robots and in order to explore with the second robot, I have to localize it first which takes a lot of time. By the time I localize it, the other robot explores whole of the map.

Thanks

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answered 2015-11-23 13:39:23 -0500

Akif gravatar image

If you are using amcl, you can set initial pose estimate of the robot by publishing to /initialpose topic. Also there is a visual tool for this in rviz, which is named as "2D Pose Estimate". Is this what you need?

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Yes, I tried clicking he 2D Pose Estimate in hope that my localization will be done faster. But there is no decrease in localization time. By the time I localize it, the other robot finishes whole map. Is there a way, i can manually localize before the program starts?

robo_explorer gravatar image robo_explorer  ( 2015-11-23 14:11:57 -0500 )edit

You can try publishing on /initialpose programmatically or on terminal instead of using rviz. This may result in faster localization. Or you may make the other robot wait until first robot localizes.

Akif gravatar image Akif  ( 2015-11-23 14:29:31 -0500 )edit

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Asked: 2015-11-20 18:12:30 -0500

Seen: 82 times

Last updated: Nov 23 '15