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robot_localizationと組み合わせる際に「現在のTFの関係」を参照して初期位置に設定したい #38

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nyxrobotics opened this issue Jan 18, 2024 · 0 comments · May be fixed by #40
Open
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robot_localizationと組み合わせる際に「現在のTFの関係」を参照して初期位置に設定したい #38

nyxrobotics opened this issue Jan 18, 2024 · 0 comments · May be fixed by #40

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@nyxrobotics
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概要
robot_localizationでTFを出す際はhdl_localizationが実行される前からwheelやIMUで推定してTFが動いている
ここで少し時刻が経過してからhdl_localizationが立ち上がると原点にジャンプする動作をする
initial_poseをパラメータで設定するのと同様の仕組みで「最初のTFの位置」を参照して初期位置設定できるようにしたい

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タスク

  • 細かいタスクに分解できているなら書き出す
@nyxrobotics nyxrobotics linked a pull request Feb 7, 2024 that will close this issue
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Feature/init on tf sbgisen/hdl_localization
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