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Pose estimation error with ar_pose I am using ar_pose package to estimate the pose of aruco marker. The camera I used

Pose estimation error with ar_pose I am using ar_pose package to estimate the pose of aruco marker. The camera I used

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Pose estimation error with ar_pose I am using ar_pose package to estimate the pose of aruco marker. The camera I used

Pose estimation error with ar_pose I am using ar_pose package to estimate the pose of aruco marker. The camera I used

Pose estimation error with ar_pose I am using ar_pose package to estimate the pose of aruco marker. The camera I used

When I define multiple robots, namely use tf_prefix, 2d pose estimate function can not be used in rviz. I look in the amcl_node.cpp, fine the reason, the code is following:

else if(tf_->resolve(msg.header.frame_id) != tf_->resolve(global_frame_id_))
  {
    ROS_WARN("Ignoring initial pose in frame \"%s\"; initial poses must be in the global frame, \"%s\"",
             msg.header.frame_id.c_str(),
             global_frame_id_.c_str());
    return;
  }

When i have multiple robots, the tf_->resolve(msg.header.frame_id) will be for example "robot_1/map", but the tf_->resolve(global_frame_id_) is "map". Anyhow, i have to use tf_prefix, otherwise the robots will not know which one is to set to the initial pose.

How can i solve this problem?

Hey can anyone tell me how does navigation(move_base) get base_link information when i simulate mobile robot in stage. When I move the robot position manually in stage window, the position of base_link will not align the robot position in stage. So i would like to know where come form the base_link information to navigation stack.

thank you.

I am doing a Benchmark in Stage to test the performance of the local planner. So i wrote a script to make the robot to move infinite to one point and back. And i want to reset the robot position to original as soon as the robot get collided. I called the "reset robot position" service published by stage_ros, the code like following:

ros::ServiceClient client = nh1.serviceClient<std_srvs::empty>("reset_positions");

std_srvs::Empty reset_srv;

client.call(reset_srv);

After the robot was reset, the robot seemed to be "lost", the robot position in stage and rviz were not aligned, and the robot couldn't be navigated nomally. Can someone tell me why?

Hello, i have used this service you created,but after i reset my robot position, the robot can't be navigated true, do you know why?