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Using set_Pose service in robot_localization package

Hi Everyone,

I am trying to use the set_pose service of the robot_localization package. Due to some landmarks I know exactly that the robot is at this pose, but when I feed it via the service after a short time the orientation from the robot_localization package switches back to the old state. I think I know why the filter jumps to the old orientation, because I use the absolute orientation from the IMU, which does not have changed. So what is the best way to set this landmark pose, without just using the incremental IMU data.

Thank you and kind regards!