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Initial pose for robot_localization within a given map

asked 2018-07-23 18:36:11 -0600

tuandl gravatar image

Hi, I am able to run r_l package fuing wheel odometry, imu and gps. Now I want to run the localization within a predefined map.

As briefly mentioned here, I have to initialize a robot pose within a map before calling navsat_tranform.

I don't know how to do it. Let's say the robot starts within a map with an arbitrary pose, I wonder is there any way to set that pose before calling navsat_transform?

For example, my current localization result within a prior looks like this: image description

The blue arrows are fused odometry using wheel encoder, imu and gps. The localization result in world_frame is satisfying.

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answered 2018-07-23 19:25:25 -0600

billy gravatar image

updated 2018-07-23 19:25:47 -0600

The initial pose has it's own topic. You can publish to this topic from a node. RVIZ publishes to this topic when you set initial pose using the mouse.

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@billy yes you are right. But setting the pose using rviz only effects the initial pose of amcl right? Since robot localization package didn't subscribe to any initial pose topic then how can you set an initial pose for it? Or maybe I miss something?

tuandl gravatar image tuandl  ( 2018-07-24 01:20:55 -0600 )edit

Ah yes, I found it. Initial state can be called to set the initial pose. Thank you for your help!

tuandl gravatar image tuandl  ( 2018-07-24 01:25:17 -0600 )edit

Great!! I had same problem and you had solved it. Thanks :)

hwlee gravatar image hwlee  ( 2020-03-03 01:08:01 -0600 )edit

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Asked: 2018-07-23 18:36:11 -0600

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Last updated: Jul 23 '18