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I am already simulating with gazebo and trying to create a map with gmappin and I need to get the robot PoseWithCovarianceStamped from the odom and tfs, which gmapping gives. Any idea? Thanks for helping
AFAIR, it is not possible to get something related to uncertainty from tf. So the only point I see (besides changing the source code of gmapping itself) is to subscribe to the ~entropy topic of gmapping and reason a bit about that. To quote the wiki:
~entropy (std_msgs/Float64) Estimate of the entropy of the distribution over the robot's pose (a higher value indicates greater uncertainty). New in 1.1.0.
Entropy and the Covariance Matrix are related. However, it is not possible to retrieve the covariance Matrix from the entropy, afaik. So if you really require PoseWithCovarianceStamped, you'll have to change the code, imo.
Asked: 2018-02-20 03:41:51 -0500
Seen: 320 times
Last updated: Feb 20 '18
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