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What is the pose topic move_base subscribes to?

asked 2015-12-29 00:04:30 -0500

Shams gravatar image

move_base extracts the current position from tf. what is the name of the frame it subscribes to relative to /map frame?

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answered 2016-01-07 07:21:59 -0500

mgruhler gravatar image

move_base actually gets the current position from the costmap (see here).

Thus, you specify the the frame_id in the costmap config file via the ~<name>/robot_base_frame parameter, which defaults to base_link.

As you write correctly, it uses tf to get the current position, so it does not subscribe to a topic other than tf for this.

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Asked: 2015-12-29 00:04:30 -0500

Seen: 66 times

Last updated: Jan 07 '16