albany_nav: locator | slam_experiments
Package Summary
Localizes a robot against a map being broadcast in TF.
- Author: Michael Ferguson
- License: BSD
- Repository: albany-ros-pkg
- Source: svn http://albany-ros-pkg.googlecode.com/svn/trunk/albany_nav/locator
Contents
Overview
This package contains a node for localizing a robot using AR markers. It currently depends on a hard-coded map, and is still under development.
Nodes
locator.py
This node listens to marker locations and localizes the robot.Subscribed Topics
ar_pose_markers (ar_pose/ARMarkers)- An array of markers, each marker describe the current pose relative to the camera.
Parameters
map_frame (string, default: map)- Global map frame id.
- Odometry frame id.
Provided tf Transforms
odom_frame → map_frame- The localization of the robot.