fake_localization

fake_localization
fake_localization substitutes for a localization system, providing a subset of the ROS API used by amcl.

Subscribed Topics
base_pose_ground_truth (nav_msgs/Odometry)
The position of the robot as published by a simulator.
initialpose (geometry_msgs/PoseWithCovarianceStamped)
Allows for setting the pose of fake_localization using tools like rviz or nav_view to give a custom offset from the ground truth source being published.

Published Topics
amcl_pose (geometry_msgs/PoseWithCovarianceStamped)
Just passes through the pose reported by a simulator.
particlecloud (geometry_msgs/PoseArray)
A particle cloud used to visualize the robot’s pose in rviz and nav_view.
Parameters
odom_frame_id (string, default: “odom”)
The name of the odometric frame of the robot.
delta_x (double, default: 0.0)
The x offset between the origin of the simulator coordinate frame and the map coordinate frame published by fake_localization.
delta_y (double, default: 0.0)
The y offset between the origin of the simulator coordinate frame and the map coordinate frame published by fake_localization.
delta_yaw (double, default: 0.0)
The yaw offset between the origin of the simulator coordinate frame and the map coordinate frame published by fake_localization.
global_frame_id (string, default: /map)
The frame in which to publish the global_frame_id→odom_frame_id transform over tf.
base_frame_id (string, default: base_link)
The base frame of the robot.
Provided tf Transforms
/map →

官方网址：http://wiki.ros.org/fake_localization