About | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

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_id→odom_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.