How to record robot trajectory?

I want to record the robot's trajectory and then check if I've already been at that place before or not, and also store it for later reference. How can I do that?

Asked by parzival on 2019-10-24 05:04:18 UTC

Comments

You can make a vector of point where you have been (odometry), and make a service that you can call, which will check if your current odom is present in the vector you have saved (use a threshold since being at exact same point would be extremely rare). This can be the case if you are doing all of this during a single run. For storing you can store them in a bag.

Asked by Choco93 on 2019-10-24 05:50:01 UTC

Answers

you need to use a spatial database, and connect it to ros with a service, so you can query later the positions it has been by for example using a bounding box query. of course the pose data you feed in the db must be correct.

Asked by wintermute on 2019-10-24 14:58:15 UTC

Comments

Thanks for answering! Where can I find an implementation of such a pose database?

Asked by parzival on 2019-10-28 13:05:39 UTC