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how to publish (fake) odometry i.e, getting odometry without robot?

asked 2012-09-05 23:52:30 -0500

Sudhan gravatar image

updated 2012-09-05 23:52:51 -0500

I would like to use the odometry data over rgbdslam package. I do not have any robots. So, Is there any possiblity to publish a fake odometry (for the known distance)?

Thanks in advance for the reply.

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answered 2012-09-06 01:00:23 -0500

kszonek gravatar image

One way is to write your own node that will publish fake data. Tutorial for odometry publisher can be found at:

It requires some changes, but will give you possibility to publish automaticly whatever you need, without any user input. Other option is to use turtlesim and move fake robot around with a teleop (using keyboard or joystick). It will publish odometry for you, so there is no need to wirte any additional code, but you need to keep interacting with robot to generate change in published position.

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answered 2012-09-06 00:51:07 -0500

davinci gravatar image

Perhaps you can save data from a simulation (turtlebot) using ROSbag and play this data back in your own simulation?

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any links or packages, how to run the turtlebot in simulation...

Sudhan gravatar image Sudhan  ( 2012-09-06 01:04:36 -0500 )edit
davinci gravatar image davinci  ( 2012-09-20 00:31:24 -0500 )edit

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Asked: 2012-09-05 23:52:30 -0500

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Last updated: Sep 06 '12