|Note: This tutorial assumes that you have completed the previous tutorials: Teleop Base Controller in Simulation.|
|Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.|
Faking Sensor Info in SimulationDescription: fake_localization node usage is introduced. It provides transform between base_link frame and the map frame.
Tutorial Level: ADVANCED
First launch the teleop base controller before continuing this tutorial.
One benefit of the simulator is that you can fake certain things. For example, if you don't want to deal with localization noise in AMCL, you can instead use fake localization.
rosparam set /fake_localization/odom_frame_id /odom_combined rosparam set /fake_localization/base_frame_id /base_footprint rosrun fake_localization fake_localization
To see ground truth pose, run in a separate terminal
rostopic echo amcl_pose
TODO: create a tutorial on how to get info about other objects in the world using ros_p3d plugins.