Correct simulator setup for fake_localization

asked 2017-07-24 08:55:20 -0600

OMC gravatar image

Hello,

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?

Regards

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