Hello,
I am working on using move_base on a Clearpath Husky. Our lab has a motion capture system with which we are generating a pose with covariance posted message. I have included the topic from the motion capture system in the localization.yaml file in the husky shown below.
This seems to be working while in view of the motion capture cameras in that the initial pose as reported by the /odometry/filtered topic is (x,y,z)=(0,0,0) as is updated as expected when the robot is driven around the lab. Can anyone provide some direction in getting the pose of the robot to be reported as its true position in the lab (assuming it starts at some non-zero (x,y) location within the lab)? Ideally the true position of the robot would be updated if the motion capture lost targets for a period of time.
Any help would be greatly appreciated.
Regards,
ndspike
odom_frame: odom
base_link_frame: base_link
world_frame: odom
two_d_mode: true
frequency: 50
odom0: husky_velocity_controller/odom
odom0_config: [false, false, false,
false, false, false,
true, true, true,
false, false, true,
false, false, false]
odom0_differential: false
odom0_queue_size: 10
odom0_relative: false
imu0: imu/data
imu0_config: [false, false, false,
true, true, true,
false, false, false,
true, true, true,
false, false, false]
imu0_differential: true
imu0_queue_size: 10
imu0_remove_gravitational_acceleration: true
pose0: /QSpose
pose0_config: [true, true, true,
true, true, true,
false, false, false,
false, false, false,
false, false, false]
pose0_differential: false
pose0_relative: false
↧