2010/12/30 Prasad Dixit <abhimohpra@gmail.com>:
>
> Hello,
>
> Our Robot(Indoor) is dependent on the encoders and laser scanner URG-04. The
> range of my laser is 4 to 5.6 mtrs. Due to lack of expert manufacturers here
> locally, we do not have highly precise and quality motors. It is two wheel
> drive and unfortunately encoder producing lot of difference in values due to
> original rpm difference between two motors. It is big concern to me.
>
> I am exploring ccny packages in context to get more tools to make robot more
> accurate and smooth running. I am currently working on two packages
> ar_pose(ekf) and polar_scanner_matcher. I already had a discussion with you
> in some other thread related related to ar_pose which was really helpful to
> me.

For clarity:
the ar_pose_ekf package is developed at KUL and available in
kul-ros-pkg as an extension to the ar_pose package from ccny.

>
> I further have some questions related to both of them.
>
> For ar_pose:
> I run ar_pose and now it is giving pose estimation in matrix through
> poseWithCovOut. Since it is part of ekf i believe it is fusing /odom, /laser
> and /camera inputs.

It is not. It only fuses different camera estimates:
http://www.ros.org/wiki/ar_pose_ekf

How will poseWithCovOut be referred in localization OR
> gmapping if i am using an AMCL with static map?  There is also a package
> robot_pose_ekf with its "vo" parameter. Is it necessary then to use it, if i
> am using ar_pose_ekf?
>
>
> For polar_scan_matcher:
> As this works without odometry reference. I executed psm_node independently
> and got pose2D results. How will i make use in navigation stack? since AMCL,
> Planner are referring odometry values. I thought to give pose2D in odometry
> itself so, /odom will show polar_scan_matcher results but further while
> instructing to motor how cmd_vel of planner will work in connection with
> pose2D when motor inputs are not taken physically from scan matcher?
>
> I hope all my questions are clear and valid.
>
> Wish you have a happy and prosperous new year.

Best wishes!

Steven

>
> - Prasad
> --
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