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What message to use to publish the position of a rover

asked 2017-06-28 19:50:37 -0500

kenrobinson gravatar image


I a newbie here. I've been trying to understand the appropriate message to use when publishing the position of a rover on a map. I have a topic of a "chassis" which I want to use to publish this position. I was using JointState but realised that it related to joints on the robot itself. NavSatFix is a possibility but this merely reports what the GPS says. It shouldn't be the ultimate source of truth. What I've been looking at is

Any help would be greatly appreciated.

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answered 2017-06-29 01:00:42 -0500

Humpelstilzchen gravatar image

Not sure if I understand the question, but if you are looking for a message type, look at the nav_msgs/Odometry Message. Its probably better if you take a look at the navigation stack

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I think this is the answer.

@kenrobinson: 'position of a rover on a map' is typically the result of a localisation algorithm or some (derived) sensor (ie: gps, motion capture). Estimates based on sensors local to the mobile base are typically published usin the Odom msg that @Humpelstilzchen ..

gvdhoorn gravatar image gvdhoorn  ( 2017-06-29 02:12:56 -0500 )edit

.. refers to. Consuming nodes typically fuse that info with other sources to improve that estimate, and the result is often used in navigation.

gvdhoorn gravatar image gvdhoorn  ( 2017-06-29 02:13:41 -0500 )edit

Thank you. I'll look at the navigation stack and the Odometry message.

kenrobinson gravatar image kenrobinson  ( 2017-06-29 15:53:14 -0500 )edit

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Asked: 2017-06-28 19:50:37 -0500

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Last updated: Jun 28 '17