TransformBroadcaster and robot_localization [closed]

asked 2017-01-31 22:56:48 -0600

haelannaleah gravatar image

updated 2017-01-31 22:57:19 -0600

Hi! I am working with a turtlebot in ROS Indigo

I want to publish data for robot_localization to incorporate in its localization. I want to publish landmark data to cause the robot to discretely update the map, essentially in an attempt to combat the drift that occurs in odometry. However, when I publish a PoseWithCovarianceStamped to my launch-file-specified topic, and broadcast a tf transform from that topic's frame to the world frame, the map frame only updates if the transform broadcast is all 0s and the published pose is all 0s - ie, it only seems to update in order to zero out the current position. Otherwise, it does not update.

Essentially, all that I want is to update the map frame such that when I see a landmark, I discretely set the map to reflect my position relative to it. The data I am publishing is already in the map frame; ideally, the map would jump to match the published position exactly.

I have a few related questions. First, when using tf.TransformBroadcaster(), are you discretely broadcasting a static transform? And is that transform a relative transformation, (ie, frame1 is (1,2,3) away from world and at some angle offset, such that we add the translation and rotation to the current position in frame1) or is information broadcast in more absolute terms? If the transformation is only broadcast when we encounter landmarks, will it permanently update the map? Does it need to update more often?

The heart of my questions is this: how do I use tf.TransformBroadcaster() and a topic publishing PoseWithCovarianceStamped to discretely update the map frame?

Thanks!

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Closed for the following reason question is not relevant or outdated by Tom Moore
close date 2017-08-22 05:23:18.521543

Comments

Can you post sample messages and your launch file?

Tom Moore gravatar imageTom Moore ( 2017-02-21 03:13:43 -0600 )edit

Did you ever figure this out?

Tom Moore gravatar imageTom Moore ( 2017-07-20 04:20:10 -0600 )edit

I'm going to close this question. If you still have this question, please let me know, and I will re-open it. In that case, thought, please post sample data and launch files.

Tom Moore gravatar imageTom Moore ( 2017-08-22 05:23:06 -0600 )edit