some problem with global localizaton using stage simulation

asked 2018-10-22 04:31:17 -0600

fighterxi gravatar image

updated 2018-11-06 19:29:22 -0600

Hi, sorry to trouble you! I'm using the stage simulator doing some path tacking work. I need a global and perfect position to make it, so the topic "base_pose_ground_truth" would be perfect for it. Also In order to eliminating the error of odom, I used the officially recommended "gps" rather than "odom". Still, you will see a large shift in the "odom"coordinate relative to the global coordinate (map),especially when the robot is turning.

As far as I know, both of these ("gps" " base_pose_ground_truth" )come from the stage simulator , and the coordinate system mentioned above should not have relative movement(or drift ). Can you told me what can I do to get the global positioning more precise?


this is the param in stage : —————————— define difflike_robot position ( pose [ 0.0 0.0 0.0 0.0 ]

#odom_error [0.00 0.00 999999 999999 999999 0.00] localization "gps" localization_origin [ 0 0 0.0 0.0]


in launch file: <node name="fake_localization" pkg="fake_localization" type="fake_localization" respawn="false"/>


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Comments

Can you add more info on what you're trying to do / what you setup is? Are you using robot_localization? If you are, the map frame -> odom frame drift is due to how you've set it up, so you should post your robot_localization config files (as text).

stevejp gravatar image stevejp  ( 2018-10-25 19:18:21 -0600 )edit

Thank you for your reply,

pose [ 0.0 0.0 0.0 0.] #odom_error [0.00 0.00 999999 999999 999999 0.00] localization "gps" localization_origin [ 0 0 0.0 0.0]

fighterxi gravatar image fighterxi  ( 2018-11-06 03:31:49 -0600 )edit

In order to avoid the drift error of the “odom ”, so I didn't use it. I used localization "gps", but I still have the problem I mentioned.

fighterxi gravatar image fighterxi  ( 2018-11-06 03:35:31 -0600 )edit

@fighterxi: I've given you sufficient karma to attach images to your question.

re: profile picture: creative, but not necessary :)

gvdhoorn gravatar image gvdhoorn  ( 2018-11-06 05:57:55 -0600 )edit

@gvdhoorn Thank you!

fighterxi gravatar image fighterxi  ( 2018-11-06 19:56:13 -0600 )edit