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hello, I'm using turtlebot, distro hydro,i did the stack navigation with odometry, now i want working with odom-combined (robot_pose_ekf), is there anyone who did that, can help me.i didn't know what changes do I need to do. Is what I have to change all odometry term to odom_combined term, and remove the transformation between odom and base-footprint since robot poses ekf node will make the transformation between odom_combined and base-footprint Any help please !

Thanks in advance


Originally posted by sophye_turtlebot on ROS Answers with karma: 53 on 2015-04-20

Post score: 1

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You have to make sure that you are consistent with the odometry term, does not matter if it is odom or odom_combined as long as it is same throughout.
Yes, you do not have to provide the transformation, robot_pose_ekf will do that.
Check this out : http://answers.ros.org/question/11682/robot_pose_ekf-with-an-external-sensor/

Hope it helps.


Originally posted by Naman with karma: 1464 on 2015-04-20

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Original comments

Comment by sophye_turtlebot on 2015-04-21:
Thanks for your response :) what I understood so the only role of the robot_poses_ekf is the transformation which he offers between odom combined and basefootprint. So in the stack navigating we didn't need to work with odom_combined ? we must keep the odom parameter (for example for the local costm

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Thanks for your response :) what I understood so the only role of the robot_poses_ekf is the transformation which he offers between odom combined and basefootprint. So in the stack navigating we didn't need to work with odom_combined ? we must keep the odom parameter (for example for the local costmap in the global_frame) in fact my work is to compare two trajectories done by a robot one with Odom and the other with the odom_combined.


Originally posted by sophye_turtlebot with karma: 53 on 2015-04-21

This answer was ACCEPTED on the original site

Post score: 1

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