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Set Odometry and SetModelState

asked 2013-06-03 20:38:15 -0600

David Lu gravatar image

updated 2013-06-04 16:20:36 -0600

For repeated tests, I want to move my robot back to (0,0). I've been using SetModelState, but that does not reset the odometry. Is there a way to reset the odometry easily?

I found LAYER_POSITION2D_REQ_SET_ODOM here but it's unclear how to use it from ROS.

Edit: I'm using the basic PR2 setup in conjunction with ROS. I create an empty world and spawn a PR2 in it. The /base_odometry/odom topic is published by the /gazebo node.

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what robot and which odometry are you talking about? Where do you get the odometry from, a plugin?

ffurrer gravatar imageffurrer ( 2013-06-03 21:53:37 -0600 )edit

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answered 2013-06-05 15:35:02 -0600

hsu gravatar image

Hi David,

PR2 odometry information is published by a ROS odometry controller. All controllers in gazebo are loaded through a gazebo plugin that mimics the PR2 controller manager on the robot. Gazebo itself does not keep odometry information.

John

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answered 2013-06-04 11:36:50 -0600

nkoenig gravatar image

Odometry information is not stored with Gazebo, unless you have a special plugin (or one of the ROS plugins has an odometry value).

Can you describe what robot you're using, and what plugins?

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Updated in description above.

David Lu gravatar imageDavid Lu ( 2013-06-05 14:48:40 -0600 )edit
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Asked: 2013-06-03 20:38:15 -0600

Seen: 1,547 times

Last updated: Jun 05 '13