2D Pose estimate is not smooth

asked 2018-11-08 04:32:56 -0500

the3kr gravatar image

updated 2018-11-08 05:14:13 -0500

Hi everyone,

I'm trying to move a custom robot from the origin to an initial pose with 2D Pose estimate and facing some problem.

  1. It takes longer to move to it's initial pose (compared to the turtlebot amcl_demo) even when the distance is very close to the origin

  2. The movement is not smooth as the robot tries to go back and forth between the origin and the initial pose.

Thanks.

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Comments

Is it a typo or you actually use 2D Pose estimate to move a robot ? 2D Pose estimate only set the robot initial pose but doesn't make it move.

Delb gravatar image Delb  ( 2018-11-08 05:02:07 -0500 )edit

Yes, it's to set the initial pose. Thanks. I'll edit the question to reflect that.

the3kr gravatar image the3kr  ( 2018-11-08 05:11:56 -0500 )edit

I think what @Delb was saying is that the you should use the goal topic to tell the robot to move. The initial pose topic is used to tell the robot where it currently is.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-11-08 05:32:17 -0500 )edit