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Corrected Odometry from GMapping / Karto?

asked 2011-02-17 07:56:42 -0600

Mac gravatar image

updated 2014-01-28 17:09:10 -0600

ngrennan gravatar image

I've been building (2D) maps using GMapping, and visualizing the results in rviz. So far, so good. However, the tf frames that are available (/odom -> /base_link, most importantly) represent the original, dead-reckoning, uncorrected odometry.

So far as I can tell, GMapping and Karto don't publish an extra, "corrected odometry" frame that I could use to visualize the current best hypothesis about the robot's pose.

Have I missed something, or do I need to put in a feature request?

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answered 2011-02-17 10:29:57 -0600

joq gravatar image

REP 105 explains the relationship between these transform frames in more detail.

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answered 2011-02-17 08:47:56 -0600

tfoote gravatar image

Localization services like gmapping, karto, and amcl publish the transform from /map -> /odom. This transform is the correction for the accumulated drift in the odometry as measured by the localization. If the odometry was perfect this transform would always be zero. So the "corrected odometry" is the net transform from /map to /odom to /base_link.

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answered 2011-07-25 03:51:17 -0600

Nick Armstrong-Crews gravatar image

We've found it useful to add an additional frame to the standard tree: map->scanmatch_corrected_odom->odom

You can write the necessary code for karto to publish this transform, but we've found the Canonical Scan Matcher to perform very quickly and accurately while publishing local scan-match results out-of-the-box

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answered 2011-02-17 22:59:12 -0600

A similar (at least if I understand you correctly) question was asked on the ML some time ago: http://ros-users.122217.n3.nabble.com/slam-gmapping-extracting-pose-history-td757355.html Unfortunately, there is no solution posted, but it might help to ask the involved people.

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Asked: 2011-02-17 07:56:42 -0600

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Last updated: Jul 25 '11