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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~
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>
Did you check if the correct frames are posted on the /tf topic? Fake_localization should provide the "/map->/odom" frame...
Asked: 2012-07-04 02:14:04 -0500
Seen: 742 times
Last updated: Jul 04 '12
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