some problem with global localizaton using stage simulation
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"/>
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).
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]
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: I've given you sufficient karma to attach images to your question.
re: profile picture: creative, but not necessary :)
@gvdhoorn Thank you!