Kobuki odometry in world frame

[vyi]

If there a way to get kobuki odometry with respect to world frame (Gazebo Frame).

I have seen this : https://answers.ros.org/question/222033/how-do-i-publish-gazebo-position-of-a-robot-model-on-odometry-topic/ The above link suggests that we add odometry ourselves and get world position of the robot.

I think getting the odometry in world frame is just a matter of setting the initial pose of kobuki to (x0, y0, theta0) in the kobuki_controller (i.e. libgazebo_ros_kobuki.so). Is there a way to initialize the internal odometry of kobuki robot during launch.

Kindly let me know.

[corot]

There's a commands/reset_odometrytopic of type std_msgs/Empty. Publishing on it should reset odometry to 0, 0, 0.

That said, your localization system (if any) will keep changing the map --> odom transform, so your odom won't be anymore on world frame. Exception is if you use no localization, e.g. with a static 0, 0, 0 map --> odom tf.