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Does move_base require Twist from Odometry?

asked 2019-08-19 16:39:45 -0500

parzival gravatar image

I'm trying to make a turtlebot like robot using only the RPLidar. Hence I donot have a good source for odometry. I'm getting the Pose2D using laser_scan_matcher, and can use the values and represent it in nav_msgs/Odometry.

I've also found a way to use these pose2D values with /scan headers to roughly calculate velocities.

But I want to know is it mandatory to have Twist information for move_base to work? Or does move_base only require Pose from the odometry messages?

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answered 2019-08-20 00:31:05 -0500

PapaG gravatar image

updated 2019-08-22 17:02:13 -0500

Hi,

move_base doesn't require any odometry as per the diagram in the document (couldn't get the image link to work). However, it is the local_planner that requires information about your motion (specifically velocity so that it can extrapolate a dynamic path). I am unsure however, move_base might require a transform from base_link->odom->map. This should be done anyway if you have an odometry message and is definitely a pre-requisite before attempting navigation. Of course, the local planner is a part of move_base but I would segment it if you're implementing it so you can identify issues in a particular section.

Perhaps you could use robot_localization to provide this transform and give an odometry message after accounting for noise. I have never used laser_scan_matcher myself, however, perhaps you could use an Iterative Closest Point (ICP) estimate if you aren't happy with the results of the CSM estimate?

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Hi, yes robot_localisation should work too. I'm currently getting good results with laser_scan_matcher with a custom odometry node, so I'll continue playing around with that for a while. Thanks a lot! You've been great help!

parzival gravatar imageparzival ( 2019-08-23 00:16:39 -0500 )edit

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Asked: 2019-08-19 16:39:45 -0500

Seen: 36 times

Last updated: Aug 22