dlo_ros#

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dlo_ros Quick Facts

Category

🧭 Navigation

Debian package

dlo_ros-None

License

Propietary

Source code

https://gitlab/navigation/dlo_ros

The Direct Laser Odometry (DLO) takes wheel odometry and laser data as input while provides odometry corrected as output.

Mobile robots that navigate in indoor environments usually rely on wheels’ odometry for localization because under certain assumptions it can be very accurate and precise. On the other hand, there are situations where this type of odometry becomes unusable, namely when wheel slippages occur. In this case, the estimated pose of the robot diverges from the real one and it can cause the global localization system to fail. To address this problem, this node implements a laser-based odometry system which exploits the information of wheel odometry and laser data to maintain a reliable estimation of the robot odometry also in challenging situations. The system relies on predicting the next state by propagating the wheel odometry forward and correcting this prediction using laser data.

Node management#

How to check the status of the node?#

# this  a copy-pastable snippet to check the status
# this  a copy-pastable snippet using rosnode/rostopic to check the node is working

How to access the node’s logs?#

# this  a copy-pastable snippet

How to start/stop/restart the node#

# this  a copy-pastable snippet

Using in your code/application#

Access via the robot’s GUI#

[insert screenshots here]

Access via ROS standard tools#

# this  a copy-pastable snippet

[insert screenshots here]

Using in Python#

# this  a copy-pastable snippet

Using in C++#

# this  a copy-pastable snippet

Reference#

Subscribed topics#

Published topics#

Actions server#

Actions client#

Services#