Author: Ioan Sucan

fake_localization

A ROS node that simply forwards odometry information.

Homepage: http://wiki.ros.org/fake_localization

odom_localization Takes in ground truth pose information for a robot base (e.g., from a simulator or motion capture system) and republishes it as if a localization system were in use.

USAGE

$ fake_localization

ROS topics

Subscribes to (name/type):

"base_pose_ground_truth" nav_msgs/Odometry : robot's odometric pose. Only the position information is used (velocity is ignored).

Publishes to (name / type):

"amcl_pose" geometry_msgs/PoseWithCovarianceStamped : robot's estimated pose in the map, with covariance
"particlecloud" geometry_msgs/PoseArray : fake set of poses being maintained by the filter (one paricle only).

ROS parameters

"~odom_frame_id" (string) : The odometry frame to be used, default: "odom"