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intialpose is in what reference?

asked 2013-09-21 02:34:20 -0500

rnunziata gravatar image

updated 2013-09-21 13:38:44 -0500

fergs gravatar image

What frame is the initialPose generated by setPose from navigation panel. Should I not do a translation to base_link first before using it. I am guessing the odom. So I would translate base_link -> odom before publishing tf and odometry.

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answered 2013-09-21 13:45:10 -0500

cagatay gravatar image

amcl subscribes to initialpose topic and initial pose estimates are accepted in the global frame. You can see some part of the code inside initialPoseReceived function from amcl_node.cpp

  else if(tf_->resolve(msg->header.frame_id) != tf_->resolve(global_frame_id_))
  {
    ROS_WARN("Ignoring initial pose in frame \"%s\"; initial poses must be in the global frame, \"%s\"",
             msg->header.frame_id.c_str(),
             global_frame_id_.c_str());
    return;
  }

by default amcl sets global frame id to map

for more details check out here

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answered 2013-09-21 13:34:16 -0500

fergs gravatar image

The pose sent is in reference to the fixed frame in RVIZ -- and therefore, you should almost certainly have your fixed frame set to "/map" as AMCL is determining the transform from base_link->odom->map, and the pose you send should be where base_link is in terms of map (so that the initial odom->map transform can be determined)

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answered 2013-09-21 05:52:02 -0500

dornhege gravatar image

It's being sent in the frame that you set as the fixed frame in rviz.

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Asked: 2013-09-21 02:34:20 -0500

Seen: 770 times

Last updated: Sep 21 '13