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ROS nav stack with google cartographer pure localization

asked 2019-02-07 16:55:09 -0500

Manu14 gravatar image

Hello all!

I am new to this so please forgive if the question is silly. I am trying to integrate Google cartographer with the ros nav stack and doing a few sanity checks. The cartographer gives out heading angle in the format 0 to 180/-180. Is it possible to find out if the ros nav stack accepts heading data in the same format or in 0 to 360 format?

Thanks in advance!

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answered 2019-02-07 18:06:36 -0500

I think your best bet is to just test it! Localization is just setting the updated map -> odom frame transform when run so the actual location of the robot isnt all that important if you're just trying to replace AMCL.

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ROS represents rotations as quaternions (not euler angles), so there isn't any confusion about wrapping either.

ahendrix gravatar image ahendrix  ( 2019-02-07 18:44:03 -0500 )edit

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Asked: 2019-02-07 16:55:09 -0500

Seen: 929 times

Last updated: Feb 07 '19