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Reset odometry for TurtleBot



resetOdometry(tbot) resets the odometry readings for the TurtleBot® connected through interface object, tbot. The position and orientation are both reset to [0 0 0].


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Input Arguments

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TurtleBot interface object, specified as a turtlebot object. The object contains properties for activating subscribers and accessing topic names relevant to the TurtleBot. The properties contain the topic name and active status of different subscribers for the TurtleBot. When you create the object with turtlebot, the properties available are:

tbot = turtlebot
tbot = 

  turtlebot with properties:

           Velocity: [1x1 struct]
         ColorImage: [1x1 struct]
          GrayImage: [1x1 struct]
         DepthImage: [1x1 struct]
         PointCloud: [1x1 struct]
          LaserScan: [1x1 struct]
           Odometry: [1x1 struct]
      OdometryReset: [1x1 struct]
                IMU: [1x1 struct]
    TransformFrames: {0x1 cell}
         TopicNames: {3x1 cell}

For properties with relevant ROS data messages , you can view the topic name and a subscriber’s active status. A specific subscriber is active for the given TopicName if Active equals 1.

ans = 

    TopicName: '/mobile_base/commands/velocity'
       Active: 1

Version History

Introduced in R2016a