autoloc.md

Precise autolocalization

Initial pose estimate

1. Publish to /initialpose
2. Rviz2 is publisher in navigation.launch.py
3. amcl is a subscriber
4. /amcl_pose is not published until amcl gets /initialpose
5. Covariance indices for quality of pose estimate {"x": 0, "y": 7, "z": 35}

From ros2 topic echo /initialpose:

pose:
  pose:
    position:
      x: -0.014335393905639648
      y: -0.01587963104248047
    orientation:
      z: 0.002442992457099749
      w: 0.9999970158894749
  covariance:
  - 0.25
  - 0.25
  - 0.06853891909122467

From ros2 topic echo /amcl_pose, before rotation in place:

pose:
  pose:
    position:
      x: 0.0023854173123385156
      y: -0.020326054652300245
    orientation:
      z: -0.002061716952939946
      w: 0.9999978746593444
  covariance:
  - 0.2235436520487672
  - 0.18954617569475832
  - 0.056362588024433724

From ros2 topic echo /amcl_pose, after rotation in place:

pose:
  pose:
    position:
      x: -0.0187536442759816
      y: -0.002762048499082799
    orientation:
      z: 0.0033806640362963854
      w: 0.9999942855390093
  covariance:
  - 0.020825227848328864
  - 0.022334623708799368
  - 0.013508614749857305