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How to get initial pose of a robot?

I want to plan a path for a robot, using the "move_base_node/make_plan" service. To do that, the Service Client need to get the "start" and "goal" coordinates. How can I find the initial pose of a robot?

How to get initial pose of a robot?

I want to plan a path for a robot, using the "move_base_node/make_plan" service. To do that, the Service Client need to get the "start" and "goal" coordinates. How can I find the initial pose of a robot?robot (for the "start" coordinate)?