Setting an Odometry Offset for robot_localization

asked 2016-02-26 17:10:02 -0600

nbeyers gravatar image

Hello all,

I'm running a husky simulator with multiple robots, so each robot is starting in a different place. However, when I start each robot, the initial position is not reflected under the odometry/filtered topic. In other words, the odometry for all robots starts at (0,0,0) in a 3D coordinate system. I'd like to change this. So for a robot starting at (2,2,0), how can I get the odometry reading to match this? I can use the set_pose topic to give an initial value, but that takes an extra step.

And to add complexity, I'm now using the navsat_transform_node. With this in use, the set_pose topic works for an instant, but then odometry returns back to the previous value.

I'm happy to give any more information which might be helpful.

Thanks all!

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Comments

Have you ever found a solution to your problem? Currently looking at something similar myself

Jalil29 gravatar imageJalil29 ( 2018-10-22 04:09:00 -0600 )edit

i am also searching for a solution to this problem, did you figure out something?

mtROS gravatar imagemtROS ( 2019-04-05 01:25:47 -0600 )edit

@miROS since i have access to an IMU I am using north as a reference to determine the location for each unit since i know the center distance and getting a offset that would result in global(0,0) when the offsets are added to local(0,0)
example Local(0,0) = global (3,-1). xoffset=distancecos(theta) yoffset=distancesin(theta) local(0+xoffset, 0+yoffset)= global (0,0) local(-3, 1)= global (0,0)

Jalil29 gravatar imageJalil29 ( 2019-04-05 02:45:23 -0600 )edit