Robot positioning with ground truth data

asked 2017-10-18 11:45:47 -0500

Omar_ROS gravatar image

updated 2017-10-18 11:49:16 -0500

I am currently using a turtlebot robot as the moving platform to simulate different sensors within an environment in ROS. I am running both Gazebo and rviz.

The environment has different obstacles in the way. The problem is that when the robot hits (collides) with an obstacle in Gazebo (hence it is not moving), the base_link tf remains moving in rviz.

I know this is logical and fine, as there is wheel slip between the robot and the ground because the robot_state_publisher uses the joint state values from the /joint_states topic. However, I want the turtlebot's position to be the ground truth in rviz.

Is there a way of achieving that? I know there is a p3d_base_controller gazebo plugin, but then how to use it to relocate the robots tf's to the ground truth position?

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Facing the same situation. If you got it to work in the meantime please post it. I'm looking at gazebo_ros_p3d but not quite following why or how it works.

kotoko gravatar image kotoko  ( 2018-01-11 08:16:53 -0500 )edit

Hi,have you worked out the problem? I have a opposite problem as you. I use the turtlebot3 robot running in gazebo and rviz,however, when the robot hits with an obstacle in gazebo, the base_link remains static . I am confused about it . may I ask your help about this? thank you very much!

daojun gravatar image daojun  ( 2018-12-12 07:12:40 -0500 )edit