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This guide assumes knowledge of ROS.

This guide will teach you how to configure relocalization streams and use the relocalization workflow in Formant.

Prerequisites

Configure a localization stream

You must have an existing localization stream to use localization and relocalization. For more information, see Add a localization stream.

Configure a relocalization stream

You must have an existing relocalization stream to use relocalization. For more information, see Add a relocalization stream.

Localization during teleoperation

By default, the localization stream is centered on the device's pose and orientation.

If a Publish goal and Cancel goal have been configured for the device, an operator may select a new target position for the robot by clicking the location on the map.

If the optional Goal topic has been configured, it will appear on the map as a dot. Similarly, if the optional Path topic has been configured, the planned path will display between the device's current pose and the goal pose.

During execution of a planned move, the operator may select the Cancel or Pause buttons on the localization workflow toolbar.

Once a movement has been paused, the operator may either cancel or resume the move:

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Localization and relocalization may be used in either primary or sidebar views, but many operators may find that the sidebar view is too small to utilize.

Relocalization during teleoperation

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Relocalization is possible without Point cloud topics configured, but having a scan topic will give the operator valuable feedback to relocalize properly.

If a relocalization initial pose topic has been configured, you can use the relocalization button on the localization toolbar:

During relocalization, the view will center itself on the device. You will see controls to reorient the device in the view: an arrow for each axis, a free-translation square, and a semi-circle to rotate the device.

The scan topic will translate or rotate with the device, so you can use the scan points to align with features on the map:

Once you've reoriented the view properly, click the check icon to commit this new pose. This will publish to the topic you configured in the relocalization step.

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This new pose is relative to the Base reference frametopic of yourROS Localization Stream.

See also

• Add a ROS localization stream
• Teleoperation: Add a localization stream
• Add a relocalization stream
• Telemetry vs. realtime data streams
• Create a teleoperation interface

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