[Solved] ROSbot: Setting initial theta before starting a move_base action

Software
1

Hello,

I am currently working on a project where ROSbot should successfully find the exit of a maze.

My maze controller initially uses resets the odometry and the map, which set its position to (x=0, y=0, theta=0).

However, The way I actually use the coordinate system is that ROSbot should look along the y-axis, and do its first movement on that axis when having a (x=0, y=1) for instance.

After doing the resets, how can I set my theta to pi/2, to make sure the robot knows its looking along the y-axis?

Thanks in advance,
Erinc

2

Hello Erinc,

Setting ROSbot initial position to a non-zero value would require to implement custom methods to overwrite current odometry.

Could you specify why do you need ROSbot to move along Y axis? Would it be possible for you to change coordinate system?

Regards,
Łukasz

3

Hi Łukasz,

Since my initial plans were to have ROSbot face NORTH in the beginning, all my directional models were built based on that orientation, and I wanted the /map coordinate system to fit that in the conventional orientation (+y points north).

In order to avoid messing with the current odometry, I decided to change the coordinate system instead, so now +x points north, but it was no big deal.

Thanks,
Erinc