0
$\begingroup$

Gazebo Answers logo

For repeated tests, I want to move my robot back to (0,0). I've been using SetModelState, but that does not reset the odometry. Is there a way to reset the odometry easily?

I found LAYER_POSITION2D_REQ_SET_ODOM here but it's unclear how to use it from ROS.

Edit: I'm using the basic PR2 setup in conjunction with ROS. I create an empty world and spawn a PR2 in it. The /base_odometry/odom topic is published by the /gazebo node.


Originally posted by David Lu on Gazebo Answers with karma: 111 on 2013-06-03

Post score: 0


Original comments

Comment by ffurrer on 2013-06-03:
what robot and which odometry are you talking about? Where do you get the odometry from, a plugin?

$\endgroup$

1 Answer 1

0
$\begingroup$

Gazebo Answers logo

Hi David,

PR2 odometry information is published by a ROS odometry controller. All controllers in gazebo are loaded through a gazebo plugin that mimics the PR2 controller manager on the robot. Gazebo itself does not keep odometry information.

John


Originally posted by hsu with karma: 1873 on 2013-06-05

This answer was ACCEPTED on the original site

Post score: 1

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge that you have read and understand our privacy policy and code of conduct.

Not the answer you're looking for? Browse other questions tagged or ask your own question.