PR2 odom vo robot_pose_ekf gazebo [closed]
I have my simulated PR2, where I activated the variable vo_used in order to use some kind of GPS. I'm working with gazebo and the /robot_pose_ekf/odom_combined gives me the estimated position of the robot. I want to tell the robot that he's in some position x,y. So for this purpose the AddingGpsSensor Tutorial tells me to send my values to the vo topic so I do that. The problem is that /robot_pose_ekf/odom_combined is not taking into account the values I send, I tried with values totally different to the position the robot is. The vo is supposed to be activated since I receive the next message: Vo sensor activated.
I leave the main part of the code.
std::string base_footprint="vo";
ros::Publisher gps_pub = n.advertise<nav_msgs::Odometry>(base_footprint, 1000);
// the next part is working in a loop
msg.header.stamp = gps_time; // time of gps measurement
msg.header.frame_id = base_footprint; // the tracked robot frame
msg.pose.pose.position.x = gps_x; // x measurement GPS.
msg.pose.pose.position.y = gps_y; // y measurement GPS.
msg.pose.pose.position.z = gps_z; // z measurement GPS.
msg.pose.pose.orientation.x = 1; // identity quaternion
msg.pose.pose.orientation.y = 0; // identity quaternion
msg.pose.pose.orientation.z = 0; // identity quaternion
msg.pose.pose.orientation.w = 0; // identity quaternion
msg.pose.covariance = boost::assign::list_of (cov_x) (0) (0) (0) (0) (0)
(0) (cov_y) (0) (0) (0) (0)
(0) (0) (cov_z) (0) (0) (0)
(0) (0) (0) (1e6) (0) (0)
(0) (0) (0) (0) (1e6) (0)
(0) (0) (0) (0) (0) (1e6) ;
gps_pub.publish(msg);
In short. I'm sending everything is supposed to be needed to send, and the odom_combined is not changing at all.