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Using odometry from hector_mapping for move_base (Nav stack)

asked 2013-05-03 12:33:25 -0500

Ernest gravatar image

updated 2013-05-03 12:47:28 -0500


To run move_base (part of the Navigation stack), I need to provide an odom topic which move_base can subscribe to.

I use hector_mapping for odometry on my robot, and have set the pub_map_odom_transform option of my hector_mapping node to true to publish a tf between the map & the odom frames.

Is it possible to output odom as a topic from hector_mapping? If not, how should I go about constructing odom messages from hector_mapping topics? (I have a hunch that this is possible seeing as a tf from map to odom is available..)

Thank you in advance,


Edit: Alternatively, is there a way in move_base to use the incoming map->odom tf for odometry (as opposed to the odom topic) ?

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answered 2013-05-03 12:48:28 -0500

Ernest gravatar image

Actually I've figured it out.

It turns out that move_base doesn't need the odom topic, it can get odometry information from the tf that is being published by hector_mapping!

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Hi @Ernest, i wonder how did you configure the launch file to get odom tf out from hector_mapping and use it for move_base.

simk0024 gravatar image simk0024  ( 2021-06-09 21:21:17 -0500 )edit

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Asked: 2013-05-03 12:33:25 -0500

Seen: 1,281 times

Last updated: May 03 '13