navigation stack/ move_base with new topic

asked 2019-10-10 20:50:06 -0500

roboter
11 ●3 ●4 ●4

hello everyone.i have gone through basic navigation stack tutorial and able to move my robot. now i was thinking of situation where i have nav_msgs/Oodmetry with a topic name "myOodmetry". Is it possible that i ignore the robot's odometry message and use this for localization and navigation. keeping everything in odom frame, not using any filters or something. basically what i trying to ask is i have a topic name "myOodmetry" which contains nav_msg/Odometry messages. Can i use this for navigation stack and move_base? If yes, then how can i do that? Since i am quite new and going on tutorials, an elaborated answer will be very helping. Regards:

answered 2019-10-11 06:46:57 -0500

pavel92

1655 ●3 ●69 ●28

updated 2019-10-11 06:48:05 -0500

basically what i trying to ask is i have a topic name "myOodmetry" which contains nav_msg/Odometry messages. Can i use this for navigation stack and move_base?

Yes you can. You can make move_base use your odom topic if you remap it in your move_base.launch like this:

<remap from="odom" to="myOodmetry" />

Note that you need to make sure that you have reasonable odometry data and correct frame_id and transforms for it to work.

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Sorrry for a silly question, but just to be sure. Is it right?

<arg name="myOdometry" default="odom" />

<remap from="odom" to="$(arg myOdometry)"/>

roboter ( 2019-10-11 10:57:30 -0500 )edit

yes, but you are passing the string "odom" as an argument and remaping from "odom" to "odom" in this case (except if you pass a different topic then the default one)

pavel92 ( 2019-10-15 02:35:20 -0500 )edit

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