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robot_pose_ekf and its coordinate system

asked 2017-06-22 20:47:35 -0600

MIN LATT
51 ●17 ●21 ●26

updated 2017-06-22 21:01:04 -0600

Hi all, I have a few questions about odometry message and output from robot_pose_ekf relationship to their coordinate system. Please refer to image below.

image description

Thanks in advance for your advice.

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Next time: The text in the image is a bit hard to read, so please separate text from image.

Humpelstilzchen ( 2017-06-23 00:36:47 -0600 )edit

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answered 2017-06-23 00:33:55 -0600

Humpelstilzchen

flag of Germany

1504 ●4 ●20 ●21

The origin of all Odometry messages is the starting position of your robot, so

is correct
is same origin as A, just with different drift.

To transform them into the map frame use a tf listener.

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Thanks a lot for your answer.

MIN LATT ( 2017-06-26 22:24:43 -0600 )edit

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Asked: 2017-06-22 20:47:35 -0600

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Last updated: Jun 23 '17

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