Position monitoring using move_base.

asked 2019-07-10 00:49:52 -0500

spiritninja gravatar image

updated 2019-07-10 00:52:28 -0500

Is there a way where in which the map co-ordinates (x,y locations) on the map frame can be extracted continuously along the planned path the robot follows to reach its goal position?

I.e. if the robot is moving from location A to B on the map frame (by following the planned path), does there exit any method wehre in which I could be able to get a timely feedback of the map location it is currently present at along the path it takes to reach B?

Ex: if I'm getting a feedback every two seconds and it takes twenty seconds to reach B from A, then i would have ten locatons values along the path the robot traced including the location values of A , B.


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Afair, not in move_base and not out-of-the-box. But you could simply create a node that retrieves the tf from map to base_link and records it with the settings you want. You'd need to trigger somehow when to start recording and when to delete, though.

mgruhler gravatar image mgruhler  ( 2019-07-10 00:58:05 -0500 )edit

Oh! Thank you @mgruhler thats sounds promissing. Could i know how I could be able to retrieve tf data through code?

spiritninja gravatar image spiritninja  ( 2019-07-10 01:18:45 -0500 )edit

@spiritninja you need to write a tf_listener. There are tutorials for python and C++ available.

mgruhler gravatar image mgruhler  ( 2019-07-10 01:40:57 -0500 )edit