Turtlebot Gazebo ground truth pose

asked 2016-08-25 07:00:22 -0600

unitjan gravatar image

I want to run a "perfect odometry" simulation of turtlebot in Gazebo. I would like to teleop the robot throughout a world and get the ground truth pose and the depth image. The normal /odom node is subject to error from wheel slip.

I've had look at the /gazebo/link_states topic and managed to extract the ground truth pose but there are no timestamps associated with those messages so I have no way of linking them up with the depth images.

Is there a way to get gazebo to publish the ground truth directly to tf?

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Saurav Agarwal gravatar image Saurav Agarwal  ( 2017-06-22 11:30:28 -0600 )edit

Hi mate, Excuses me for the long detailed question.

Please, when I teleop my turtlebot3 (without any SLAMing, just navigate it manualy) and record data in a bag file, I see that /odometry topic carried the robot position relative to /odom frame Which is the same data of transformation between /base_link and /odom frames.

My questions is : 1. Is this a filtered (/estimated) position ?

  1. Is it a ground truth data ?

  2. What is the relation between this situation and deadreckoning algorithm ?

  3. (When I run GmappingSLAM) is the transformation data between (/base_link) and (/map) frame, the same as data of topic odmetry mentioned above !!!

In summary , which one is the ground truth and which one is the estimated position ?

Zuhair95 gravatar image Zuhair95  ( 2022-05-23 02:14:58 -0600 )edit