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2011-04-25 14:12:49 -0500	marked best answer	GMapping Odometry Question REP 105 does a good job of explaining how the various mapping frames interact. In short, what you're seeing there is what's expected; /odom is the uncorrected odometric information, and will not only be wrong, but will be arbitrarily wrong, given enough time.
2011-04-20 17:01:29 -0500	asked a question	GMapping Odometry Question Hello, I am running GMapping and visualizing the map in Rviz. My fixed frame is set to /map. I am driving the robot around manually and am generating a fairly accurate map. My problem is that the link from odom to base_link seems to be moving in the opposite direction. Base_link remains fixed where at the origin like I expect, but odom moves the opposite direction of the robot. My /odom ends up being no where near where the map is being generated, but the map still looks fine. My /odom is publishing that it is at X=3.28, Y=0.44, theta=-11.128 degrees. However, when I look at its position in RViz for the odom frame, I get X=-0.61441, Y=-0.22086.
2011-04-20 09:49:06 -0500	answered a question	slam_gmapping MappingFromLoggedData out of dual 32-bit range I believe this error is caused by not setting use_sim_time. I think when you are recording the data yourself you would set to false and when downloading a bag you would set to true.
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2011-04-20 02:59:34 -0500	answered a question	ros_package_path On my install, ROS_PACKAGE_PATH is set at the very bottom of /root/.bashrc. For CTurtle it is set to /opt/ros/csturtle/stacks.
2011-04-20 02:55:30 -0500	asked a question	quaternion transforms translation I am trying to test to make sure that my transforms for my odometry are set up correctly. I am visualizing in rviz and trying to make sure the data looks correct. I have /odom set as my fixed frame, so it's position and orientation does not change as I move the robot around, as expected. /base_link, the child of /odom, does change when I move the robot, as expected. The position of /base_link matches up perfectly with the odometry data I am printing out. However, I'm not sure what to expect for the orientation. When the 'theta' from odometry is 0.183329 radians, I am getting an orientation of [0,0,-0.091536,-0.995802] from /base_link. I don't really understand what these numbers mean. Also, the orientation of the /odom is constant at [0,0,0,-1]. I'm not sure if these are correct. Also, my robot only moves in 2-dimensions. My odometry code follows the tutorial http://www.ros.org/wiki/navigation/Tu... .