intialpose is in what reference?

asked 2013-09-21 02:34:20 -0600

rnunziata
711 ●145 ●164 ●190

updated 2013-09-21 13:38:44 -0600

13902 ●59 ●157 ●196 http://www.robotandchisel.com

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 -0600

cagatay

1850 ●12 ●20 ●31

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 -0600

fergs

13902 ●59 ●157 ●196 http://www.robotandchisel.com

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)