tuw_fake_localization

Drop-in replacement of AMCL for Simulators

Description

tuw_fake_localization fakes a typical localization system, such as AMCL, in a simulation environment, by using the ground truth odometry data.

Subscribed Topics

• /odom_ground_truth (nav_msgs/Odometry): Ground truth odometry published by the simulation

Published Topics

None

Provided tf Transforms

• <world_frame_id> -> <map_frame_id>: Offset, as specified in the parameters offset_
• <map_frame_id> -> <odom_frame_id>: Ground truth odometry transform from simulation

Parameters

• world_frame_id: Frame id of the world. Default: world
• map_frame_id: Frame id of the map. Default: Default: map
• odom_frame_id: Frame id of the odometry. Default: Default: odom
• base_frame_id: Frame id of the base link. Default: Default: base_link
• offset_x: The x offset between the origin of the world (simulator) coordinate frame and the map coordinate frame published by tuw_fake_localization.
• offset_y: See above.
• offset_z: See above.
• offset_yaw: See above.
• offset_pitch: See above.
• offset_roll: See above.

ROS Coordinate Frames

In general, see the ROS REP 105. Nonetheless, below is a short summary.

base_link

Coordinate system attached to the robot.

odom

Continuous, prone-to-drive coordinate system. Commonly wheeled-, imu- or visual-odometry.

map

Non-continuous coordinate system by localization system.

´world´

Also sometimes called earth. Used to reference multiple robots or world-features