Ask Your Question
0

robot_pose_ekf and its coordinate system

asked 2017-06-22 20:47:35 -0500

MIN LATT gravatar image

updated 2017-06-22 21:01:04 -0500

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.

edit retag flag offensive close merge delete

Comments

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

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-06-23 00:36:47 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted
1

answered 2017-06-23 00:33:55 -0500

Humpelstilzchen gravatar image

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

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

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

edit flag offensive delete link more

Comments

Thanks a lot for your answer.

MIN LATT gravatar image MIN LATT  ( 2017-06-26 22:24:43 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2017-06-22 20:47:35 -0500

Seen: 112 times

Last updated: Jun 23 '17