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PR2 Base Odometry

Introduction

This component computes odometry for the base.

Status: REVIEWED, NOT STABLE. .

ROS API

Parameters

odometer/initial_distance (double, default: 0.0) odometer/initial_angle (double, default: 0.0) odom/initial_x (double, default: 0.0) odom/initial_y (double, default: 0.0) odom/initial_yaw (double, default: 0.0) ils_max_iterations (int, default: 3) odom_frame (string, default: odom) base_footprint_frame (string, default: base_footprint) base_link_frame (string, default: base_link) x_stddev (double, default: 0.002) y_stddev (double, default: 0.002) rotation_stddev (double, default: 0.017) cov_xy (double, default: 0.0) cov_xrotation (double, default: 0.0) cov_yrotation (double, default: 0.0) odom_publish_rate (double, default: 100.0) odometer_publish_rate (double, default: 1.0) state_publish_rate (double, default: 1.0) wheel_radius_multiplier (double, default: 1.0) caster_calibration_multiplier (double, default: 1.0)

Example Configuration:

base_odometry:
  caster_names: fr_caster_rotation_link fl_caster_rotation_link bl_caster_rotation_link br_caster_rotation_link
  type: Pr2Odometry
  ils_max_iterations: 3
  odom_frame: odom
  base_footprint_frame: base_footprint
  base_link_frame: base_link
  x_stddev: 0.002
  y_stddev: 0.002
  rotation_stddev: 0.017
  cov_xy: 0.0
  cov_xrotation: 0.0
  cov_yrotation: 0.0
  verbose: false
  wheel_radius_multiplier: 1.0
  caster_calibration_multiplier: 1.0
  odom_publish_rate: 100.0
  state_publish_rate: 1.0
  odometer_publish_rate: 1.0

Published Topics

<name>/odom (nav_msgs/Odometry) <name>/odometer (pr2_mechanism_controllers/Odometer) /tf (tf/tfMessage) <name>/state (pr2_mechanism_controllers/BaseOdometryState)

2019-07-20 13:03