Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Visualize estimated and true turtlebot position in rviz

asked 2012-09-12 01:29:24 -0500

Poseidonius

427 ●31 ●42 ●51

updated 2012-09-12 02:16:54 -0500

Hi,

I want to illustrate the displacement of the correct and estimated position in rviz. Hence, I started the turtlebot simulation runing in Gazebo with a small office environement. A map of the enviroment is avialble on the map server.

Now I am not able to visualize the correct position in the map. Does a topic exist that provides the correct robot position in a Gazebo model?

Best wishes

Poseidonius

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2012-09-12 04:07:42 -0500

Lorenz

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

For getting the estimated pose you will have to run amcl that uses the simulated laser and the map to localize itself. Unfortunately, for the turtlebot there is no ground truth pose topic as for the pr2. I guess you will have to subscribe to gazebo's model_state topic and translate the pose of the turtlebot to a PoseStamped or Odometry message. In python such a node should be just a few lines of code though.

edit flag offensive delete link

add a comment

Question Tools

1 follower

Stats

Asked: 2012-09-12 01:29:24 -0500

Seen: 707 times

Last updated: Sep 12 '12

Visualize estimated and true turtlebot position in rviz edit

1 Answer

Question Tools

Stats

Related questions

Visualize estimated and true turtlebot position in rviz