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How can I get a robot PoseWithCovarianceStamped from gmapping?

asked 2018-02-20 03:41:51 -0500

roberto3 gravatar image

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

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answered 2018-02-20 06:36:59 -0500

mgruhler gravatar image

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.

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Thanks but I need a type PoseWithCovarianceStamped so I need to get the covariance from entropy and the pose from odom but I don't know how to do it.

roberto3 gravatar image roberto3  ( 2018-02-21 04:37:45 -0500 )edit

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.

mgruhler gravatar image mgruhler  ( 2018-02-21 05:05:57 -0500 )edit

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Asked: 2018-02-20 03:41:51 -0500

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Last updated: Feb 20 '18