How does navigation get base_link information from stage

Hey can anyone tell me how does navigation(movebase) get baselink information when i simulate mobile robot in stage. When I move the robot position manually in stage window, the position of baselink will not align the robot position in stage. So i would like to know where come form the baselink information to navigation stack.

thank you.

Asked by piliboss on 2017-01-10 05:02:07 UTC

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Answers

If you just move the robot to another place, then the localization system can of course not keep up with that. The robot would in fact need to relocalize itself. (See kidnapped robot)

So i would like to know where come form the base_link information to navigation stack.

So to answer your question: This is the task of a localization algorithm.

Asked by Sebastian Kasperski on 2017-01-11 04:18:38 UTC