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The real turtlebo pose in gmapping

asked 2016-10-03 19:27:18 -0600

Yue gravatar image

Hi, I'm a beginner in ROS and learn the gmapping package now.

I would like to visualize the real robot pose and the estimated robot pose in RVIZ. Now when I run gmapping and teleop to move the robot to explore the world, the robot jumps from one position to another, which, I guess, comes from the update of the robot pose in SLAM. But can I also have the real robot pose from gazebo?

Thank you guys, Yue

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answered 2016-10-07 12:39:49 -0600

joe_cheng gravatar image

updated 2016-10-10 16:18:51 -0600

IMO, the position changes might be results of pose correction by the SLAM algorithm you are using. Why its position is corrected? Because the sensors on your robot are getting vague or less data needed by the SLAM algorithm and the algorithm is trying to figure out where your robot really is at, by comparing previously generated map with data obtained by the sensors on your robot. If the SLAM algorithm is not sure, it will move the robot to where it thinks the robot really is at.

I don't understand what you mean about the real robot pose from gazebo, perhaps you want RVIZ show correctly its real position in gazebo world?

Then you should improve the accuracy and performance of the sensors on your robot, SLAM algorithm will more likely show the correct position of your robot in gazebo.

edit: fix typo

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Thank you very much for the answer! So is there a way to let gazebo output the real robot position as a topic in ROS,? That would be very nice, as I would like to have that information as a reference to evaluate the performance of the SLAM algorithm. :)

Yue gravatar image Yue  ( 2016-10-10 16:15:02 -0600 )edit

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Asked: 2016-10-03 19:27:18 -0600

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Last updated: Oct 10 '16