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Where can I find a fake localization node (ROS2)?

asked 2020-02-17 03:52:57 -0500

lorenzo gravatar image

I am correctly running the nav2 stack, but now I need to provide a localization node for my simulation, in order to make the robot actually move. I want to know if already exists somewhere a node simulating the localization of the robot based only on cmd_vel topic furnished by the nav2 stack.

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answered 2020-02-17 14:30:11 -0500

The answer is no. We have AMCL ported to ROS2 that we utilize in simulation for positioning, as that represents a far more accurate simulation to reality.

now I need to provide a localization node for my simulation, in order to make the robot actually move

if you have a laser scanner on your robot, you can just use AMCL the way you would but a non-simulated robot as well.

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Ok thanks. You can close the question.

lorenzo gravatar image lorenzo  ( 2020-02-18 02:39:57 -0500 )edit
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answered 2020-02-17 15:11:26 -0500

madmax gravatar image

Maybe this one here: turtlebot fake node

Good for testing planners/controllers.

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That doesn't exist for ROS2

stevemacenski gravatar image stevemacenski  ( 2020-02-17 15:20:34 -0500 )edit

Ahh, yes, I ported it...
Doesn't take much time

madmax gravatar image madmax  ( 2020-02-18 03:13:23 -0500 )edit

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Asked: 2020-02-17 03:52:57 -0500

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Last updated: Feb 17 '20