Ability to reset odom in diff_drive_controller

[aswinthomas]

While doing test runs in a real robot and in simulation, I would like to reset the environment to an initial state, once of which involves resetting odometry.

I tried stop and reload the velocity_controller in the controller_manager, but the object is still active in either in gazebo_ros_control (for sim) and node that implements the controller_manager interface (on real robot). Hence the odom does not reset.

Would it be possible to provide a service in diff_drive_controller so that states such as x_ and y_ are reset?

[bmagyar]

I think this would be useful. Thoughts?

@artivis @efernandez

On Tue, 20 Nov 2018, 13:09 aswinthomas <[email protected] wrote:

While doing test runs in a real robot and in simulation, I would like to reset the environment to an initial state, once of which involves resetting odometry.

I tried stop and reload of the velocity_controller, but the object is still active in either in gazebo (for sim) and node that implements the controller_manager interface (on real robot). Hence the odom does not reset.

Would it be possible to provide a service in diff_drive_controller so that states such as x_ and y_ are reset?

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[fayyazpocker]

Any updates on this ?

[alcantara09]

This PR addresses this issue.