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Odometry in erratic simulation

asked 2012-12-11 20:37:13 -0500

ChengXiang
201 ●26 ●32 ●40

Hi people. I am actually running a simulation of erratic robot on gazebo when this particular question strike me. The launch file I used is "erratic_navigation_apps demo_2dnav_slam.launch ".

For my project's purpose, I am trying to change the sources of odometry. When I do a rostopic check and tf_viewframe , I realised that the gazebo is producing the odometry information( the transformation from odom to base_footprint).

But when I run through all the launch files, I can't find which section is responsible for generating the transformation. Or is it that, in a Gazebo simulation, the odometry of the robot will be generated automatically?

In short, may I know which node in "erratic_navigation_apps demo_2dnav_slam.launch" is producing the odometry information? Thank you for your time.

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answered 2012-12-12 19:19:55 -0500

JonW

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updated 2012-12-12 19:31:29 -0500

It apears that the transofrm from /base_footprint to /odom is being published by the diffdrive gazebo plugin from the erratic_gazebo_plugins package. You can find the code in the function publish_odometry() in this file.

The plugin is being launched as part of the robot description .xacro file.