fake_localization Documentation

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.

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usage

  $ fake_localization
  

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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).

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ROS parameters

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