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1

How to localize pr2 on gazebo?

fake_localization

asked 2012-07-04 02:14:04 -0600

sam
2570 ●233 ●269 ●290

updated 2012-07-04 02:54:56 -0600

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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2

answered 2012-07-04 02:32:41 -0600

flag of Germany

22731 ●129 ●202 ●316 http://ias.in.tum.de/p...

updated 2012-07-04 02:33:22 -0600

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:

<launch>
  <node name="fake_localizaton" type="fake_localization" pkg="fake_localization">
    <rosparam>
      odom_frame_id: odom_combined
      base_frame_id: base_footprint
    </rosparam>
  </node>
</launch>

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0

answered 2012-07-04 02:19:45 -0600

michikarg
2108 ●19 ●37 ●52 http://hcai.in.tum.de/...

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 -0600

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Last updated: Jul 04 '12

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