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Change turtlebot initial position in gazebo ros

asked 2019-12-04 06:47:55 -0500

kiko453 gravatar image

updated 2019-12-04 06:48:19 -0500

When launching roslaunch turtlebot_gazebo turtlebot_world.launch, turtlebot initial position is always at the center (0,0,0). How can I change this initial position? I want for example the turtleot to be at (5,0, 0) in my map.

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answered 2019-12-04 07:45:52 -0500

Delb gravatar image

updated 2019-12-04 07:46:09 -0500

The position of the robot is determined when calling the node spawn_model from the package gazebo_ros. This node is called at the line <include file="$(find turtlebot_gazebo)/launch/includes/$(arg base).launch.xml">. It will call the launch file kobuki.launch.xml. In this file you have :

  <!-- Gazebo model spawner -->
  <node name="spawn_turtlebot_model" pkg="gazebo_ros" type="spawn_model"
        args="$(optenv ROBOT_INITIAL_POSE) -unpause -urdf -param robot_description -model turtlebot"/>

Your solution is to create a new launch file similar to turtlebot_world.launch and instead of using the include to kobuki.launch.xml copy the content direclty in your launch file and remove the argument $(optenv ROBOT_INITIAL_POSE) to set your pose, using the arguments -x, -y, -Y (for yaw) like this :

  <!-- Gazebo model spawner -->
  <node name="spawn_turtlebot_model" pkg="gazebo_ros" type="spawn_model"
        args="-x 5 -y 0 -Y 0 -unpause -urdf -param robot_description -model turtlebot"/>

Or if you don't want to change anything you can directly set the envirronment variable ROBOT_INITIAL_POSE to the desired arguments :

export ROBOT_INITIAL_POSE="-x 5 -y 0 -Y 0"

Note that after executing this you have to use roslaunch in the same terminal.

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Hi many thanks. The first soplution worked fine, but now the origin of my robot in rviz does match anymore with the origin in gazebo. in the my_map.yaml file there is a field origin: [12.2, -12.2, 0.0]. How do I have to change it such the position match with the one I set in kobuki.launch.xml. In other what coordinate transformation do I have to apply?

kiko453 gravatar image kiko453  ( 2019-12-04 12:29:32 -0500 )edit

That would be related to the AMCL configration, there are the parameters initial_pose_x, initial_pose_y and initial_pose_a, you just need to set them at the same values as the parameters of spawn_model.

Delb gravatar image Delb  ( 2019-12-06 02:20:39 -0500 )edit

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Asked: 2019-12-04 06:47:55 -0500

Seen: 1,005 times

Last updated: Dec 04 '19