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robot_pose_ekf and its coordinate system

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

MIN LATT gravatar image

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

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

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.

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Thanks a lot for your answer.

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

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

Seen: 81 times

Last updated: Jun 23 '17