FaithLocaliser
[Components, Stand-Alone Components, IceBox Services, C++, Linux, QNX]

A simple component that produces localisation info from 2D odometry. More...

A simple component that produces localisation info from 2D odometry.

Provides

• orca_interface_home
• orca_interface_localise2d [FaithLocaliser.Provides.Localise2d]

Requires

• orca_interface_odometry2d [FaithLocaliser.Requires.Odometry2d]

Operation

This component takes odometry information and produces localisation information. No filtering is performed: instead, the component trusts that the odometry is perfect, and that it is reported in the global coordinate system. For real robots, both of these assumptions will be incorrect.

The component is useful when working in simulation however. For example, odometry in the Stage simulator can be set to "gps" mode (ie perfect odometry, in the global coordinate system).

To do this if you are using stage's simple.world you need to add the following lines in the worlds/player.inc file

localization "gps"

localization_origin [0 0 0]

within the "define pioneer2dx position" braces

Configuration

An example configuration file is installed into [ORCA-INSTALL-DIR]/share/orca/cfg/ directory.

Authors

Alex Brooks