[ros-users] Standardization of mapping interfaces, PoseWithCovariance in addition to tf

Stéphane Magnenat stephane.magnenat at mavt.ethz.ch
Tue Nov 27 20:59:22 UTC 2012


The current draft of REP129 for SLAM node API [1] only defines tf
output. However, in many SLAM application the output pose of the
registration is fused with additional sensors such as an IMU, typically
through a Kalman filter. Hence, it might be useful for the SLAM nodes to
output a PoseWithCovarianceStamped message in addition to the tf
transform. Should this be an optional addition, or a mendatory output?

Your opinion is warmly welcome, especially if you maintain a SLAM package.



[1] https://github.com/ros-infrastructure/rep/pull/8/files

Dr Stéphane Magnenat

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