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2017-04-21 07:10:51 -0500 commented answer GPS waypoint navigation with Jackal

I tried this out and it worked! I can see now the utm- frame in the tf Tree. When I rosrun tf view_frames the utm - fram

2017-04-21 07:09:26 -0500 commented answer GPS waypoint navigation with Jackal

I tried this out and it worked! I can see now the utm- frame in the tf Tree. When I rosrun tf view_frames the utm - fram

2017-04-21 07:07:19 -0500 commented answer GPS waypoint navigation with Jackal

I tried this out and it worked! I can see now the utm- frame in the tf Tree. When I rosrun tf view_frames the utm - fram

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2017-04-20 02:26:49 -0500 marked best answer GPS waypoint navigation with Jackal

I have a the UGV "Jackal" from Clearpath Robotics. My Task is to let the robot follow a predetermined path (given in UTM -Coordinates). The robot has already GPS, IMU and odometry implemented. The robot_localization package is also already installed and preconfigured.

To let the robot navigate autonomously, I would like to use the move_base package. Therefore the goals (move_base/goal or move_base_simple/goal) have to be "in the robots world frame, or a frame that can be transormed to the world frame" (see Answer for this question). The robot_localization package should provide a transform from world_frame->utm. But when I start the robot outside, I cant't see this transformation in the tf node. Because of that I can't send goals to the move_base node with frame_id utm I think.

My Questions are now:

  1. Where can I check that the navsat_transform_node provides the world_frame -> utm transformation?
  2. How should I configure the move_base node that he will accepts goals in the utm-frame? (I know this is a very open question, but I am very glad for every tip.)

Thank you for your help and support.

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2017-04-20 02:25:14 -0500 commented answer GPS waypoint navigation with Jackal

Thank you for your help, I will try this out!

2017-04-20 02:24:08 -0500 commented answer GPS waypoint navigation with Jackal

Thank you for your help, I will try this out!

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2017-04-19 07:34:46 -0500 edited question GPS waypoint navigation with Jackal

GPS waypoint navigation with Jackal I have a the UGV "Jackal" from Clearpath Robotics. My Task is to let the robot follo

2017-04-19 07:34:26 -0500 edited question GPS waypoint navigation with Jackal

GPS waypoint navigation with Jackal I have a the UGV "Jackal" from Clearpath Robotics. My Task is to let the robot follo

2017-04-19 07:34:06 -0500 asked a question GPS waypoint navigation with Jackal

GPS waypoint navigation with Jackal I have a the UGV "Jackal" from Clearpath Robotics. My Task is to let the robot follo

2017-04-19 04:35:43 -0500 commented answer GPS Waypoint navigation with robot_localization and navsat_transform_node

Hi, I tried to send a move_base_simple/goal (with frame_id: utm) on the Jackal robot. The navsat_transorm_node was runni