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?
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A answers.ros.org |
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: 2019-10-24 05:04:18 -0500
Seen: 1,168 times
Last updated: Oct 24 '19
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
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.