Correct simulator setup for fake_localization

asked 2017-07-24 08:55:20 -0500

OMC gravatar image


I am using V-REP to simulate my robot and I wanted to use the fake_localization node, but I am not sure if I am using it correctly.

My question is: is fake_localization assuming that the odometry published by the simulator is relative to the initial pose sent through /initialpose?

Currently I publish the odometry relative to the origin of the simulator, but I think I may need to recompute it so that it is relative to the new /initialpose message. Is that right?


edit retag flag offensive close merge delete