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getting current angle and position from navigation stack

asked 2013-10-04 06:11:30 -0500

Massbuilder gravatar image

updated 2014-01-28 17:18:08 -0500

ngrennan gravatar image

Is there anyway to get the current angle and x and position from the navigation stack the robot is at? Please note that all my code is in python.

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answered 2013-10-04 06:34:05 -0500

You can use TF to lookup the transform between your map origin and the robot. See the Using Published Transforms tutorial.

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thanks that will help with solving a slight problem with my odometry node.

Massbuilder gravatar image Massbuilder  ( 2013-10-07 05:57:12 -0500 )edit

I also need a position/angle the robot will need to go to. Which msg should I subscribe to to get it.

Massbuilder gravatar image Massbuilder  ( 2013-10-08 11:58:33 -0500 )edit

Are you referring to the goal sent to move_base? That is done with either an action call, or on the topic move_base_simple/goal.

Dan Lazewatsky gravatar image Dan Lazewatsky  ( 2013-10-08 12:41:10 -0500 )edit

more along the lines of the results from the navigation stack, my robot at the moment uses servos for navigation and I am not quite comfortable with speed control by changing pulse frequencies. I need something like a postion stamped to get distance to travel and orientation

Massbuilder gravatar image Massbuilder  ( 2013-10-08 12:59:31 -0500 )edit

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Asked: 2013-10-04 06:11:30 -0500

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Last updated: Oct 04 '13