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Continuously Tracking and storing 6D pose of an object in Gazebo simulation.

Hi,

I am currently working on a drone related project and using gazebo for simulation

In order to measure accuracy of my localisation, I need to know the ground truth values. Is there some way in Gazebo to continuously track/store the actual/true/ground truth 6D pose, ie the rotation and translation w.r.t. to a fixed frame like the world frame.

I wish to create something like the following -

image description

Thanks!

Continuously Tracking and storing 6D pose of an object in Gazebo simulation.

Hi,

I am currently working on a drone related project and using gazebo for simulation

In order to measure accuracy of my localisation, I need to know the ground truth values. Is there some way in Gazebo to continuously track/store the actual/true/ground truth 6D pose, ie the rotation and translation w.r.t. to a fixed frame like the world frame.

I wish to create something like the following -

image description

Thanks!

Continuously Tracking and storing 6D pose of an object in Gazebo simulation.

Hi,

Update: I have already asked this question on the Gazebo forum (here ) but have not received a reply. Hence This question is being asked in the expectation that someone using ROS + gazebo may have done something similar and can help out.

I am currently working on a drone related project and using gazebo for simulation

In order to measure accuracy of my localisation, I need to know the ground truth values. Is there some way in Gazebo to continuously track/store the actual/true/ground truth 6D pose, ie the rotation and translation w.r.t. to a fixed frame like the world frame.

I wish to create something like the following -

image description

Thanks!

Continuously Tracking and storing 6D pose of an object in Gazebo simulation.

Hi,

Update: I have already asked this question on the Gazebo forum (here ) but have not received a reply. Hence This question is being asked in the expectation that someone using ROS + gazebo may have done something similar and can help out.out.

I am currently working on a drone related project and using gazebo for simulation

In order to measure accuracy of my localisation, I need to know the ground truth values. Is there some way in Gazebo to continuously track/store the actual/true/ground truth 6D pose, ie the rotation and translation w.r.t. to a fixed frame like the world frame.

I wish to create something like the following -

image description

Thanks!