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How to localize pr2 on gazebo?

asked 2012-07-04 02:14:04 -0500

sam gravatar image

updated 2012-07-04 02:54:56 -0500

I followed Faking Sensor Info in Simulation.

I run

  roslaunch pr2_gazebo pr2_empty_world.launch
  roslaunch pr2_teleop teleop_keyboard.launch
  rosrun fake_localization fake_localization
  rostopic echo amcl_pose

It doesn't show any result.

How to solve it?

Thank you~

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2 Answers

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answered 2012-07-04 02:32:41 -0500

Lorenz gravatar image

updated 2012-07-04 02:33:22 -0500

The odometry frame for the PR2 is not odom but odom_combined. You need to set the corresponding parameter for fake_localization. For instance, the following launch file should work:

  <node name="fake_localizaton" type="fake_localization" pkg="fake_localization">
      odom_frame_id: odom_combined
      base_frame_id: base_footprint
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answered 2012-07-04 02:19:45 -0500

michikarg gravatar image

Did you check if the correct frames are posted on the /tf topic? Fake_localization should provide the "/map->/odom" frame...

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Asked: 2012-07-04 02:14:04 -0500

Seen: 748 times

Last updated: Jul 04 '12