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Hi,
I am looking for an implementation of a localization algorithm that calculates the best fitting robot position based on a laser scan and a know map. The navigation stack expects odometry measurements and do not support an initial estimation without any movements?
Best wishes from Germany
Enjoy the weekend
Poseidonius
In fuerte, you can check out the FLIRTlib stack: http://kforge.ros.org/projects/startuploc/services/git/ . It's not released yet, but the code and launch files are documented.
If you're trying to provide an initial pose estimate to the navigation stack, you may want to take a look at a localization algorithm like AMCL. AMCL takes an initial estimate of position in order to localize the robot with respect to its environment.
Asked: 2012-06-22 01:07:18 -0500
Seen: 503 times
Last updated: Jun 25 '12
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Are you attempting to publish an odometry message or are you trying to provide the initial estimation?
I want to provide an initial position estimation.