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robot_pose_ekf issue

asked 2012-04-09 01:20:02 -0500

PedroS. gravatar image

Hi all,

I have robot that calculates the odometry using the information of the wheels, and what i usually do is publish the odom as a nav_msgs::odometry which has as frame_id "/world" and as child_frame_id "rear_axis"(where all the calculations are made). This setup works with no problem.

Now my problem, I have to combine the information of odometry with the data from an imu(I have an urdf with the right position of the imu->rear_axis), and i was trying to use the robot_pose_ekf to do that.

I made robot_pose_ekf subscribe the information from odometry and from the imu, and I get a tf : /odom->/base_footprint, however i need to connect tf to the previous tf(original).(because I have to acumulate pointcloud while the robot moves) 1.Question: How do I connect these two tf?

2.Question: The frame /base_footprint and /odom(is this like /world frame?) , what does it mean?

3.Question: If the /base_footprint moves with the robot, mabe I can create a static transformation between /base_footprint and my "/rear_axis". (am I completly worng?), to connect the twe tf's tree.

Did I make my self clear?

If anyone could help I'd appreciate.

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Perhaps you should look at this question that I asked a few months ago @Martin_Gunther provided a very clear explanation of all of the frames in robot_pose_ekf

jarvisschultz gravatar image jarvisschultz  ( 2012-04-09 02:22:04 -0500 )edit

thanks, it was very useful. :D

PedroS. gravatar image PedroS.  ( 2012-04-09 08:52:32 -0500 )edit

1 Answer

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answered 2012-04-18 09:50:26 -0500

tfoote gravatar image

From what you state a static transform seems like a reasonable solution.

REP 105 covers common coordinate frames used in navigation. I suggest you follow these naming conventions.

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Asked: 2012-04-09 01:20:02 -0500

Seen: 579 times

Last updated: Apr 18 '12