API call for determine new map position

asked 2017-11-06 15:00:17 -0600

MarkyMark2012 gravatar image

updated 2017-11-07 01:33:51 -0600

gvdhoorn gravatar image


Other than using standard trig - is there an API call that give the data below say will return the new position to pass to the navigation stack if I command the robot to move 0.5 meters backwards:

  x: 1.95812040039
  y: 1.32759493657
  z: 0.0
  x: 0.0
  y: 0.0
  z: 0.702802831861
  w: 0.71138469166



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To answer the second part of your question, if you want to send the robot 0.5 metres backwards, you can send a pose command in the frame of the base_link/base_footprint. Assuming x forward, y left, z up, this command would be pos: -0.5 0 0, rot: 0 0 0 1, header/frame_id: base_link.

ufr3c_tjc gravatar image ufr3c_tjc  ( 2017-11-06 17:10:03 -0600 )edit

Otherwise, you can use the transform of base_link -> odom/map to get your position.

ufr3c_tjc gravatar image ufr3c_tjc  ( 2017-11-06 17:11:05 -0600 )edit