Set Odometry and SetModelState

Question

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.

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

Post score: 0

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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?

Answer 1

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

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

This answer was ACCEPTED on the original site

Post score: 1