Robotics StackExchange | Archived questions

comparison of odom and robot_pose_ekf

Hi All

In robotposeekf, there is an image that compares the wheel odometry data and robot pose. I'd like to understand how to visually and compare the odom value and robotposeekf so I can analyse the performance of robotposeekf

1) Is the graph value being compared is from odom (nav_msgs/Odometry) and robot_pose_ekf/odom_combined (geometry_msgs/PoseWithCovarianceStamped) values? is this obtained from rqt_plot?

2) Is it possible to display in these comparison in rviz? for example I want to display the robot path based on odom (nav_msgs/Odometry) and robot path robot_pose_ekf/odom_combined (geometry_msgs/PoseWithCovarianceStamped) in my map? can hector_trajectory package can be use for this?

Thanks in advance!

Asked by fj138696 on 2017-06-27 21:49:23 UTC

Comments

Answers