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Getting Robot Position while Teleoperation [closed]

asked 2016-02-08 05:49:52 -0500

b2meer gravatar image

I have created a map using gmapping on turtlebot 2. Now, i want to let the user move the robot using teleoperation (meanwhile amcl is also running) and record the coordinate values of the path from where the robot moves. The problem is that when the robot moves using teleop, it does not use move_base due to which I am unable to get the robot's coordinates via topic move_base/feedback. Any ideas on how could I get the coordinates of robot in the reference frame in which my map is running. Thanks.

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Closed for the following reason the question is answered, right answer was accepted by Procópio
close date 2016-02-15 04:15:00.606542

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just checked amcl_pose and that's what I wanted. Thanks a lot for your help. I also wanted to confirm one more thing, if i get the pose from odometry, what reference frame will it be in ?

b2meer gravatar image b2meer  ( 2016-02-08 06:23:49 -0500 )edit

I guess odometry should be in its own frame odom, which support transformation to map with the help from acml

yasagitov gravatar image yasagitov  ( 2016-02-08 06:46:40 -0500 )edit

alright. thanks alot. that was really helpful

b2meer gravatar image b2meer  ( 2016-02-08 07:33:27 -0500 )edit

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answered 2016-02-08 05:56:02 -0500

yasagitov gravatar image

amcl should publish amcl_pose, isn't it enough?

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Asked: 2016-02-08 05:49:52 -0500

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Last updated: Feb 08 '16