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navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

A ROS node that simply forwards odometry information.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
  • Author: Ioan A. Sucan, contradict@gmail.com
  • License: BSD
  • Source: git https://github.com/ros-planning/navigation.git (branch: hydro-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

A ROS node that simply forwards odometry information.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: Ioan A. Sucan, contradict@gmail.com
  • License: BSD
  • Source: git https://github.com/ros-planning/navigation.git (branch: indigo-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

A ROS node that simply forwards odometry information.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mferguson AT fetchrobotics DOT com>
  • Author: Ioan A. Sucan, contradict@gmail.com
  • License: BSD
  • Source: git https://github.com/ros-planning/navigation.git (branch: jade-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

A ROS node that simply forwards odometry information.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: Ioan A. Sucan, contradict@gmail.com
  • License: BSD
  • Source: git https://github.com/ros-planning/navigation.git (branch: kinetic-devel)
navigation: amcl | base_local_planner | carrot_planner | clear_costmap_recovery | costmap_2d | dwa_local_planner | fake_localization | global_planner | map_server | move_base | move_base_msgs | move_slow_and_clear | nav_core | navfn | robot_pose_ekf | rotate_recovery | voxel_grid

Package Summary

A ROS node that simply forwards odometry information.

  • Maintainer status: maintained
  • Maintainer: David V. Lu!! <davidvlu AT gmail DOT com>, Michael Ferguson <mfergs7 AT gmail DOT com>, Aaron Hoy <ahoy AT fetchrobotics DOT com>
  • Author: Ioan A. Sucan, contradict@gmail.com
  • License: BSD
  • Source: git https://github.com/ros-planning/navigation.git (branch: lunar)

Description

The fake_localization package provides a single node, fake_localization, which substitutes for a localization system, providing a subset of the ROS API used by amcl. This node is most frequently used during simulation as a method to provide perfect localization in a computationally inexpensive manner.

Specifically, fake_localization converts odometry data into pose, particle cloud, and transform data of the form published by amcl.

Nodes

fake_localization

fake_localization substitutes for a localization system, providing a subset of the ROS API used by amcl.

Subscribed Topics

base_pose_ground_truth (nav_msgs/Odometry)
  • The position of the robot as published by a simulator.
initialpose (geometry_msgs/PoseWithCovarianceStamped)
  • Allows for setting the pose of fake_localization using tools like rviz or nav_view to give a custom offset from the ground truth source being published. New in 1.1.3

Published Topics

amcl_pose (geometry_msgs/PoseWithCovarianceStamped)
  • Just passes through the pose reported by a simulator.
particlecloud (geometry_msgs/PoseArray)
  • A particle cloud used to visualize the robot's pose in rviz and nav_view.

Parameters

~odom_frame_id (string, default: "odom")
  • The name of the odometric frame of the robot.
~delta_x (double, default: 0.0)
  • The x offset between the origin of the simulator coordinate frame and the map coordinate frame published by fake_localization.
~delta_y (double, default: 0.0)
  • The y offset between the origin of the simulator coordinate frame and the map coordinate frame published by fake_localization.
~delta_yaw (double, default: 0.0)
  • The yaw offset between the origin of the simulator coordinate frame and the map coordinate frame published by fake_localization.
~global_frame_id (string, default: /map)
  • The frame in which to publish the global_frame_idodom_frame_id transform over tf. New in 1.1.3
~base_frame_id (string, default: base_link)
  • The base frame of the robot. New in 1.1.3

Provided tf Transforms

/map<value of odom_frame_id parameter>
  • Passed on from the simulator over tf.

Wiki: fake_localization (last edited 2013-03-26 12:22:40 by jihoonl)