[ros-users] ar_pose basics

[Prasad Dixit]

Hello Bill, 

I am continuing this thread since i made little progress in ar_pose.

I would like to brief on the steps i executed so far:

1. I had set up ar_pose for single/ multiple markers. This is running really
fine. It is publishing ar_pose_marker topic. It is detecting patterns
properly.
2. I wanted to fuse camera and sensor input to get more accurate position
estimation so i used ar_pose_ekf
I executed ./runekf.sh and in launch file ar_pose_world_converter is
configured. This is displaying poseWithCovOut all together. 

I have questions like:-
1. How can i further use poseWithCovOut to correct my robot position in
fusion with sensor (URG-04 Laser Range) and Odometry data ? I was unable to
see /scan or /odom topic are being subscribed in ar_pose_ekf. I saw through
rxgraph. OR is it automatically taking internally.
2. I am running an AMCL node. Can i connect poseWithCovOut to AMCL to get
more accurate localized robot? OR how it helps AMCL node to correct the
position?
3. Is this node doing same as what robot_pose_ekf is doing? Can i avoid the
use of robot_pose_ekf?

Since i am newbie in this i hope all my questions are valid.

- Prasad
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