Reset odometry in Spot #453
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Hello everybody, Does the robot have any functionality to reset the robot's odometry? I mostly use the robot with my own ROS2 workspace running with the spot ros2 driver that I am developing for motion planning and navigation. It would be very useful to reset the odometry as if I just turned the robot on. This way, before running small experiments I could reset the odometry and use it as a reference frame to set positions for my own controllers, instead of running SLAM or using a MOCAP system. |
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Hello, To the best of my knowledge this isn't supported through the Boston Dynamics SDK -- I couldn't find anything about this in their API (here or here). A workaround could be to publish a second odometry frame that starts at the location of the default |
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Hello,
To the best of my knowledge this isn't supported through the Boston Dynamics SDK -- I couldn't find anything about this in their API (here or here).
A workaround could be to publish a second odometry frame that starts at the location of the default
/odomframe, and do your motion planning with respect to that new frame. When you want to reset the odometry, you could update the location of that frame to be at thebodyframe of the robot.