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How to record robot trajectory?

asked 2019-10-24 05:04:18 -0500

parzival
463 ●36 ●62 ●59 https://jashmota.com

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?

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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.

Choco93 ( 2019-10-24 05:50:01 -0500 )edit

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answered 2019-10-24 14:58:15 -0500

wintermute
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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.

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

parzival ( 2019-10-28 13:05:39 -0500 )edit

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Asked: 2019-10-24 05:04:18 -0500

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Last updated: Oct 24 '19

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How to record robot trajectory?