Odometry pose resets on its own

asked 2020-11-18 08:25:41 -0500

Qilos gravatar image


I wrote a little script that sets a robot on a desired pose/position, for example (2,3) I then publish this pose to the odometry topic of the robot, so that the points I set are the inital pose of the odometry data. After that i recieve the the current odometry pose with a subscriber and print both the pose i set and the odometry pose i recieved to check if they the same.

So in my program they are the same but as i continue my program the odometry pose is suddenly set back to [0,0]

Is there a reason my pose resets on its own even after i set it manually? Is there a way i can stop that from happening?

Best regards

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if i.e. another node is publishing your odometry and you want to publish it yourself, just remove that node. If you are using amcl for localizing, you need to publish initial pose estimation to /initialpose topic.

Orhan gravatar image Orhan  ( 2021-05-21 16:11:41 -0500 )edit