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How to disable odometry from ROSAria

asked 2018-07-31 07:47:16 -0500

Dox gravatar image

updated 2018-08-01 06:14:47 -0500

Hi,

is there a way to disable wheel odometry (at least the TF) that is published by ROSAria? I want to use odometry from another source like visual odometry. This is how my TF frames look like atm. I have two separate trees because ROSAria still publishes odom to base_link.

I use Ubuntu 14.04. with ROS Kinetic.

Thank you in advance.

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answered 2018-08-01 07:40:37 -0500

Tom Moore gravatar image

It would appear not. If you'd like that feature, it seems like a pretty straightforward change for you to contribute.

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answered 2019-07-06 03:49:36 -0500

ashwinram gravatar image

I used an easy workaround. Leaving it here for future.

  1. Change the name of the odom_frame and base_link_frame parameter used by RosAria to publish tf from the default odom/base_link to say Aria_odom/Aria_base_link for example.
  2. Next, write a small rospy snippet to subscribe to /RosaAria/pose messages and rename the frame_id back to whatever frames you are using for robot_localization. Publish this new message from a new topic and use this topic for odom_n in robot_localization config file. Run this snippet before launching robot_localization.

The above ensures that there is no clashing transform in the the frames used by robot_localization while still allowing the odom data to be used.

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Asked: 2018-07-31 07:47:16 -0500

Seen: 92 times

Last updated: Jul 06