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I want to use a transform from Fiducial marker to re-localize my odometry on AMCL .
https://github.com/UbiquityRobotics/f... , i intend to use this .
One option would be to add use the initialpose topic to completely re-initialize your particle filter whenever you see a known fiducial.
Perhaps a better choice would be to include fiducial measurements into robot_localization as a measurement source. Then the filtered estimate from robot_localization will produce a much more accurate tf tree that amcl can use.
Asked: 2018-04-23 13:23:06 -0500
Seen: 378 times
Last updated: Apr 25 '18
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What is your question?
Once the robot sees a AR_tracker , it should relocalize .
Its kind of like a 'homing' mechanism.
When AMCL starts , it starts at some random coordinate , post which the odometry estimation is often wrong . I want to put in a correction mechanism .
Ok, but what is your question? You're giving statements, but no question.
@jarvisschultz ,
Thanks solved the problem . I didnt see the inirialpose before .