/set_pose issue [closed]

asked 2017-01-13 15:50:33 -0500

bluehash gravatar image

updated 2017-01-13 15:51:49 -0500

Hello, This seems to be trivial, but I'm unsure as to what is causing the issue.

I have the ekf_localization node generating /odometry/filtered data using input from an imu(via /imu/data) and wheel odometry(via /odom).

Everything works when the system is started up... the EKF accumulates data from 0,0 and keepts track as we move the robot.

However, for some tests, I need to move the machine to a set location on a map( say 20, 10). I use the /set_pose topic for this. When I issue this command, I also keep an eye on the /odometry/filtered topic and see the x,y jump from (0,0) to (20,10).

When the robot is now moved, I see the x-coordinate of pose under the /odometry/filtered topic changing, but absolutely no movement on the y-co-ordinate.

Maybe a clue... if I /set_pose to (0,1), the co-ordinates change, but the y-co-ordinate jumps back to 0 after a few seconds.

Some more info: I have the same code-base running as a simulation with Gazebo's diff-drive plugin. I don't see the issue there. The only difference is when running on a live robot, we use our own version of diff-drive controller.


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Closed for the following reason duplicate question by bluehash
close date 2017-05-04 07:26:25.949279


Please post your EKF configuration and sample input messages.

Tom Moore gravatar image Tom Moore  ( 2017-01-26 03:10:18 -0500 )edit

Can we close this and refer to the other question?

Tom Moore gravatar image Tom Moore  ( 2017-05-04 02:05:23 -0500 )edit

Please see answer here.

bluehash gravatar image bluehash  ( 2017-05-04 07:26:20 -0500 )edit