position_tracker

Dependencies

• rospy
• geometry_msgs
• nav_msgs

Making

rosmake position_tracker

Running

rosrun position_tracker position_tracker.py

Interface

Defines one topic and one service

Position

• x: current odometric x-coordinate in the user-defined frame of reference
• y: similarly, current y-coordinate
• theta: current heading, measured in the standard fashion in radians. 0 = parallel to the x-axis in the positive direction, +/- pi = parallel to the x-axis in the negative direction, etc.

Set_Position

• x: the robot's current ground-truth x-coordinate in the user-defined frame of reference
• y: similarly, true y-coordinate
• theta: true heading as defined above.

Usage

Assumes an /odom topic published by a robot controller in the current namespace. Publishes a /position topic and /set_position service in the same namespace.

The /set_position service can be called at any time to update the robot's position to a known location. Odometry error accumulated up to the point of the service call will be eliminated.