The origin of the map is indicated with a small white grid containing a white outline of the supposed (but incorrect) vehicle pose. The following figure shows the vehicle at its spawning point and RViz zoomed out enough to display the origin of the map frame and the location of the vehicle. Press F1 in the simulator window to see the camera controls. Zoom in/out with the mouse wheel and pan the view with the middle-mouse button in RViz. Initially RViz is centered on the origin of the map frame but the vehicle is spawned to a different location in the map, still unknown to RViz. is easier to achieve reproducible results. ![]() is more flexible, as one can drive the car around in the simulation to any spot on the available map, and then choose to initialize the localization there. A car locator is a positioning device normally on a vehicle, truck, or motor that uses the Global Positioning System (GPS) to track its movement to monitor. There are two ways to send an initial guess of the vehicle pose to the system: The following error message is expected in the terminal in which the stack was started until the localization is successful: : Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
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