How to change the position of tf / odom in gazebo

1

Hello everyone. When I launch a map in gazebo with the turtlebot 3 the topic / odom is located in the coordinates 0,0,0 of the map and it stays like that, giving “/ base_footprint” positions and orientations relative to the robot. How can I modify the position of the odom topic to other coordinates of the map where the robot is located so that it gives me new positions and relative orientations?

thank you very much for your help.

Odom
Odom1152×648 78.2 KB

2

Hi,

As far as I used odom, its not ment to be used that way. In theory to reposition , you would have to use the navigation system to set a new estimated pose of the robot. Maybe if you post here the reason why you want to do that change in odom frame, we might be bale to guide you a bit more.