ROS pepper odometry

Herman

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Nov 18, 2020, 11:02:12 AM11/18/20

to ROS Sig Aldebaran

Hello,

Im trying to learn the Pepper robot to navigate through an environment on its own via deep reinforcement learning.
I m locating the robot by using the the data received from the /pepper/odom topic.
But I dont know how i can reset the accumulated distance after each episode, as i dont want to close the simulation but just set the Pepper back to one of its starting points.

Is there a way to reset the /odom data in a python script?

I really would appreciate any help

Best regards
Hermann

Daniele Proietti

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Dec 1, 2020, 6:36:34 AM12/1/20

to ROS Sig Aldebaran

Hi Hermann,

I am wondering the same thing but in the real robot, do you know if there exists a way to reset the odometry data provided by the naoqi sdk?

Best

Daniele

Herman

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Dec 12, 2020, 11:31:21 AM12/12/20

to ROS Sig Aldebaran

Sorry but I dont work with the Naoqi sdk, so i cant help you with that

HaSu

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Apr 15, 2021, 10:49:50 AM4/15/21

to ROS Sig Aldebaran

Not sure how up-to-date this still is, but did you get it solved? You could publish a new localization pose on the specific topic. Wouldn't that reset the odometry also?

We have a node that solves some localization issues by re-localising the robot on a regular basis, but I have never tried it on Pepper.

Did your approach work? Pepper's navigation capabilities in large open spaces are very bad unfortunately. :(

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