Gazebo and PR2 simulation setup publishing nan values on base_odometry/odom
Some background: Essentially I have set up pr2 in simulation in an empty world on gazebo. I would like to set the initial pose of the robot, so I have done the following: model_state =...
View ArticleHow to make my own base controller publish /odom?
I have no robot, so I must build one piece by piece. I use differential drivers ,each with a encoder.And each encoder can output two channels signal :A,B. I can read channel A and B to aquire the speed...
View ArticlePR2, Odometry, Gazebo
I'm using the pr2 robot in gazebo. I've been seeing the odometer publishers *(/base_odometry/odom, /base_odometry/odometer, /base_odometry/state and /robot_pose_ekf/odom_combined)* and what I want to...
View Articleerror in TurtleBot2.......
Hi,guys. I have big trouble.....in TurtleBot2. When I launch rviz, TurtleBot2 rotations itself........but in fact it is not rotation...... This is video: [Turtlebot2 error](http://youtu.be/bYaklkvUeXo)...
View ArticleRead odometry or gyro sensor's data of turtlebot
Hi all, At the moment, I am looking for the way to determine the velocity of turtlebot. As I research I can use the navigation pack to do this, but maybe now in ros groovy ( my current distro) it is...
View Articleslam_gmapping odometry tf already published
Hey, I'm running my robot with a laser scanner and wheel odometry and the navigation stack. I already built a map from logged data and now I want to build it online. So I start my launch file for my...
View ArticleNeed to publish X, Y position to ROS while slamming with gmapping
Shall I say, when laser sanner is working very well and gmapping is translating message to /map topic very well, there is no need to publish X, Y position and heading angle to ROS via /odom topic?
View ArticleHow scan angle is measured and published in LaserScan msg?
Range of the distance of the obstacles are measured from output of laser sensor but how actually the scan angles are measured. do we use any separate sensor to get the value?
View Articlerobot starts drifiting/rotating in RVIZ, issues with odometry data or amcl
Hi all, I have a mobile robot and I would like it to navigate around the building and I already have a map of the building. I am using wheel encoders to generate [odometry...
View Articledoubt regarding working of base_local_planner
Hi all, I have a doubt regarding working of [base_local_planner](http://wiki.ros.org/base_local_planner). As the base_local_planner requires an odometry information (`nav_msgs/Odometry`) to get the...
View ArticleHow is the base_local_planner using the odom message
Hi all, I am just getting familiar with [move_base](http://wiki.ros.org/move_base), specifically with the working of the [base_local_planner](http://wiki.ros.org/base_local_planner). I went through...
View ArticleRobot navigation using CAD dawing maps
I want to provide a map drawn in CAD software for robot navigation instead of laser scans, is there any package or stack to take the CAD drawn maps for navigation. How to accomplish this task?
View Articleadding own sensor to robot_pose_ekf
Hi all, I am using [robot_pose_ekf](http://wiki.ros.org/robot_pose_ekf) to fuse data from rotary encoders and IMU and it seems to be working pretty good. Then, I am adding [another...
View ArticleUsing wheel encoders and IMU with robot_localization
Hi all, I am using wheel_encoders which is giving odometry information of the type `nav_msgs/Odometry` and IMU which gives `sensor_msgs/IMU` (IMU is giving orientation, angular velocity and linear...
View Articlebest way to compare two pose estimates from different sources
Hi all, I have a mobile robot with `navigation_stack` up and running. The robot is able to navigate properly from point A to point B. I am using encoders to get the odometry data and IMU, encoders and...
View ArticleHow does the Planer move plugin work?
I am trying to get the build a omni-directional robot in gazebo. I got it working model by applying forces to each wheel following...
View ArticleTf origin is away from the base_link
I have built my differential drive mobile robot in solidworks and converted that to URDF file using soliworks2urdf convertor. I successfully launched and robot and simulated with tele-operation node....
View ArticleRobot model orientation is improper with respect to map frame.
Robot model is not properly oriented (upside down) in rviz when "map" is selected as fixed frame. When the fixed frame is odom the robot model was perfectly aligned and oriented in rviz. How to bring...
View ArticleWhat is the odometry frame in relation to?
I'm trying to implement an odometry publisher for a small robot following the [tutorial](http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom), but I'm confused by the terminology. An odometry...
View ArticleDynamic Footprint in Navigation
Dear all, i want to ask if someone has an idea of how to make my footprint dynamic depending on the speed. So for example, if the robot is traveling with high speed, the footprint size should increase...
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