Navigation with Motion Capture

asked 2017-05-30 17:01:18 -0600

ndspik gravatar image


I am working on using move_base on a Clearpath Husky. Our lab has a motion capture system with which we are generating a pose with covariance posted message. I have included the topic from the motion capture system in the localization.yaml file in the husky shown below.

This seems to be working while in view of the motion capture cameras in that the initial pose as reported by the /odometry/filtered topic is (x,y,z)=(0,0,0) as is updated as expected when the robot is driven around the lab. Can anyone provide some direction in getting the pose of the robot to be reported as its true position in the lab (assuming it starts at some non-zero (x,y) location within the lab)? Ideally the true position of the robot would be updated if the motion capture lost targets for a period of time.

Any help would be greatly appreciated.

Regards, ndspike

odom_frame: odom
base_link_frame: base_link

world_frame: odom

two_d_mode: true

frequency: 50

odom0: husky_velocity_controller/odom
odom0_config: [false, false, false,
               false, false, false,
               true, true, true,
               false, false, true,
               false, false, false]
odom0_differential: false
odom0_queue_size: 10
odom0_relative: false

imu0: imu/data
imu0_config: [false, false, false,
              true, true, true,
              false, false, false,
              true, true, true,
              false, false, false]
imu0_differential: true
imu0_queue_size: 10
imu0_remove_gravitational_acceleration: true

pose0: /QSpose
pose0_config: [true, true, true,
              true,  true,  true,
              false, false, false,
              false,  false,  false,
              false,  false,  false]
pose0_differential: false

pose0_relative: false

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