Comments (4)
Both navigator classes now get the current robot pose from the Robot class, which receives it from AMCL via the amcl_pose topic.
from navigation2.
@mjeronimo that's not the current pose, you should be checking TF for the current pose. That will only run every once in awhile (every 20cm or so) which isn't up to date or particularly accurate at any given time.
This is why folks use robot_pose_ekf, robot_localization, etc in order to get high rate accurate (according to model) pose estimates
from navigation2.
I'm just going to add a comment here for clarity: AMCL itself will only update every so often -- which means that the odom->map transform only gets updated occasionally. In theory, the odom->map shouldn't change quickly (unless you are slipping wheels/etc).
The base_link->odom should be updating at the rate of the base controller odom/tf publication, which should be much higher (alternatively, the base controller might not publish TF, but rather let something like robot_localization fuse the base odometry and IMU to get a more accurate base_link->odom TF publication).
TF is still the right way to get the base_link->map transformation though.
from navigation2.
Let's open a new issue for the change to use TF for the initial starting pose
from navigation2.
Related Issues (20)
- Controller server + local costmap setup issues HOT 6
- Extensibility of MPPI with external custom critic(s) HOT 3
- AMCL localization transform stability issues HOT 4
- [Feature Request] Temporary Static Obstacles Detection and Map Update Using RL HOT 1
- Error when switching from DWB to MPPI Controller Server , Inflation Layer not found and segmentation fault HOT 6
- AMCL core dumps due to a race condition when used with the map server. HOT 8
- [nav2_smoother] nullptr bug during `smooth_plan()` HOT 3
- Confusion about MPPI Path Angle Critic HOT 2
- How to use planner selector and controller selector actions? HOT 2
- Path Planning with nav2_smac_planner/SmacPlannerHybrid Generates Wobbly Paths Instead of Straight Lines HOT 2
- [MPPI] Zero velocity used after Optimizer reset HOT 8
- [nav2_controller] nullPtr bug during `comupteControl()`
- In Simple Commander API, getRoute() is not yet implemented HOT 1
- Getting this error while navigation : Extrapolation Error looking up target frame: Lookup would require extrapolation into the past HOT 1
- Nav2 Fails on Second TurtleBot 4 HOT 1
- Collision Monitor in Nav2 Not Displaying Polygons Correctly or Following Robot HOT 4
- In the running of goToPose(), cancelTask() does not work HOT 3
- Docking is not available for ros humble. HOT 1
- Both Slack invite links may have expired HOT 1
- Revert Double Spin in #4558 once rclcpp #2589 fixed
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from navigation2.