how to change the origin of odometer in RVIZ

asked 2017-07-16 04:13:29 -0500

ghaith gravatar image


I want to navigate and build map outdoor, I already did it in indoor. I am using GPS to determine the first position and I may use it as for tracking, I did all the thing related to the GPS. I am publishing the gps data as fix topic and convert it to UTM using GPS _common PKG , then I am subscribing to Odom to receive the UTM data , and then publishing it with TF between odom1 and base link.


IN Rviz when I put the fixed frame to odom1 and the axis in base link ,it will count that the odom start form (0,0) not from the initial position of the gps.

My question is; how to make the odom start from the GPS position as its origin, not form the (0,0)??

Is there a special way to change the origin ? or I need to determine the first gps reading and use it as an offset and always reset every thing to (0,0)?

Thanks for help in advance.

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Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-07-17 01:54:59 -0500 )edit

thanks for the recommendation .I will try to apply it, but I want to ask is it necessary to use robot_localization_ pkg or it can be done using another method? thanks for replay again.

ghaith gravatar image ghaith  ( 2017-07-18 03:15:21 -0500 )edit

Of course there are other ways, e.g. you could write it all yourself. But robot_localization is afaik the current recommended choice.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-07-18 03:37:32 -0500 )edit