Set Odometry and SetModelState

asked 2013-06-03 20:38:15 -0500

David Lu
111 ●10 ●13 ●20

updated 2013-06-04 16:20:36 -0500

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.

edit retag flag offensive close merge delete

Comments

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

ffurrer ( 2013-06-03 21:53:37 -0500 )edit

add a comment

1

answered 2013-06-05 15:35:02 -0500

hsu
1873 ●14 ●19

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