Turtlebot Gazebo ground truth pose

asked 2016-08-25 07:00:22 -0500

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 -0500 )edit