How do i modify/change base_footprint by program?

asked 2018-01-02 05:00:02 -0500

Liuche gravatar image

updated 2018-01-04 20:13:50 -0500

Hello everybody!

Thank for your attention!

Dose anyone know how to modify/change the pose by code?

It means I want to change the base_footprint(robot's location).

What I want to do is when I use RFID Tag as a checkpoint.

When the robot Check checkpoint, program will modify the current location of the robot(base_footprint's location).

I had try this. Here is my code :

from nav_msgs.msg import Odometry
import rospy

odom = Odometry()

pose_pub = rospy.Publisher("/odom", Odometry, queue_size=10)


odom.pose.pose.position.x = 1
odom.pose.pose.position.y = 1
odom.pose.pose.position.z = 0

while not rospy.is_shutdown():

It's only response when the code is running.

But when I close the code , the Pose will return to the old data

(I use rostopic info to check /odom, I saw

Publisher: * /mobile_base_nodelet_manager ( )

Subscribers: None

Maybe it's why to be this.)

Is there a way to modify the base_footprint's location by code?

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What do you mean by 'the Pose will return to the old data'? Is there another publisher of Pose (which is perhaps latched?)?

lucasw gravatar imagelucasw ( 2018-01-02 11:16:11 -0500 )edit

HI, lucasw!

I only launch the turtlebot minimal.launch.

I use rostopic info to check /odom, I saw

Publisher: * /mobile_base_nodelet_manager ( )

Subscribers: None

Maybe it's why to be this.

But I need to find another way to change the Pose.

Liuche gravatar imageLiuche ( 2018-01-02 19:04:48 -0500 )edit

I want to do is like ('/mobile_base/commands/rest_odometry'). That means it won't return the old data after I run finish.

Liuche gravatar imageLiuche ( 2018-01-02 19:07:57 -0500 )edit

I have seen <remap from="mobile_base/odom" to="odom"/>.

But when I use rostopic list, I don't see the mobile_base/odom.

Liuche gravatar imageLiuche ( 2018-01-02 19:55:37 -0500 )edit