I'm using the stage simulator to make an multi robot experiment. I need a global and perfect position to make it, so the topic base_pose_ground_truth would be perfect for it.
But the problem is that base_pose_ground_truth is not showing the position of the robot as appears in the screen of stage simulator. It's strange because the odometry seems ok, and description page of Stage stack says that base_pose_ground_truth will always publish perfect position.
In most of cases, the x published position is the real y position, and the y published position is the negative of real x position.
I've tested with some .world files of stage stack and navigation_stage package and I got the same problem.
There is an image of an simulation with stageros and the information published in /base_pose_ground_truth (left) and /odom (right). The initial position of the robot was [0 0 0 0].
What should I do to make base_pose_ground_truth show the real position?
Post score: 4
Comment by Procópio on 2012-08-17:
same problem here.