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GT-RAIL / nav2djs

2D Navigation Widget
http://robotwebtools.org/
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Extend Navigator to listen for other pose types/topics #26

Closed hawesie closed 11 years ago

hawesie commented 11 years ago

We are working with amcl localisation which publishes the robot's localised pose as a geometry_msgs/PoseWithCovarianceStamped on topic /amcl_pose. This is ignored by Navigator (which only listens for geometry_msgs/Pose on /robot_pose). It would be great if users could configure how the Navigator obtains a pose somehow.

rctoris commented 11 years ago

The robot pose comes from the robot_pose_publisher node (http://www.ros.org/wiki/robot_pose_publisher). This is a throttled topic and also does not waste bandwidth by continuously sending the covariance matrix since it is not used for the widget. This can be installed with:

sudo apt-get install ros-groovy-robot-pose-publisher or from source above.

By default, this will publish the TF between /base_link and /map. If your pose TF is between two different frames, they can be configured with optional parameters to the node: https://github.com/WPI-RAIL/robot_pose_publisher/blob/groovy-devel/src/robot_pose_publisher.cpp#L74-L75

hawesie commented 11 years ago

Oh, cool, that makes sense then. Thanks!