Robot Position in slam_gmapping in python

asked 2016-02-22 20:47:46 -0500

pookie gravatar image

I am relatively new to ROS. I am trying to move a turtlebot around using slam_gmapping in python. I can get the occupancy grid just fine, using a dynamic_map client via rospy. However, I cannot for the life of me figure out how to get the robot's position and orientation within that occupancy grid. I have spent about twenty hours on this and all of the help I can find is about how to run some ROS demo that will do it, but I cannot find anything talking about what topics publish this, or how to do this in python. Can someone please point me in the right direction? Thanks so much!

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Are you using Rviz to visualize the occupancy grid? If the answer is Yes, you can see the current position of the platform with the correct tf settings

jcardenasc93 gravatar image jcardenasc93  ( 2016-03-18 19:46:21 -0500 )edit