IMU covariance matrix setting for robot_localization
Hi guys :) I'm trying to fuse an odometry source with the data coming from an IMU. To do this I'm using robot_localization. I'm having difficulties to understand how to set the covariance matrix for...
View ArticleHow to fuse odometry and AR slam using robot_localization?
I am trying to use robot_localization to fuse wheel odometry and fiducial_slam and I am a little confused by the transforms. In the current system, we have the wheel odometry publishing...
View ArticleMap rotation in rviz during gmapping
Hello guys, I am running the gmapping algorithm with the required transforms and the scan and odom topics using rplidar. While i am able to get the map, whenever i turn the map also turns in rviz...
View Articleproblem configuring robot localization
Hello, I am trying to use the robot localization package into my underwater robot. at the moment I am doing some dry tests on the system to make sure everything is working properly. I have my parameter...
View ArticleRobot Localization Confusion
BLUF (Bottom line up front): Using ackermann style odometry only, Robot_localization isn't providing an /odometry/filtered output. Machine: Ubuntu 16 & ROS Kinetic Details: I have an ackermann...
View ArticleRTK GPS Localization in known static map
Hey guys, I just have a few question based on localization and mapping with an RTK GPS setup. I'm running a setup with RTK GPS positioning and heading, i use a dual kalman filter setup of the...
View Articlerobot_localization estimate drifts for a stationary robot in rviz
I am using robot_localization to fuse odometry, imu and gps measurements. However once my robot is spawn in rviz, it starts drifting. The /imu/data output keeps changing and the estimated pose is...
View ArticleRobot localization - With IMU stable; adding other pose sources(eg. AMCL)...
On the quest to stop the robot from drifting we have implemented an IMU which makes use of a madgwick filter. After painstaking troubleshooting with both the arduino and the raspberry pi used to read...
View ArticleAdd corrections (AR tags) to EKF
I'm using the EKF of the [robot_localization](http://wiki.ros.org/robot_localization) package. The inputs of the EKF would be just the IMU or maybe the IMU and an odometry (using a visual odometry...
View ArticleRobot localization EKF pose estimation drift during acceleration / deceleration
Hello, I'm using robot localization's EKF on my robot and I have some issues with it. I'm using ROS kinetic version on Ubuntu 16.04 and I install robot localization pkg from apt-get install. My inputs...
View Articlerobot_localization (elf_se) fails
I have two launch files thay are identical except that one starts one additional node. Robot_localization fails in one case and not in the other. The error makes me think of uninitialized memory...
View Articlerobot_localization for multiple ardrones
I'm working on a project where multiple ardrones have to cover a given area. I'm able to do ekf_localisation for a drone.But while dealing with multiple ardrones, i have no idea how to publish those...
View Articlehelp with ROBOT_LOCALIZATION
Hi, I'm setting up the robot_localization package to merge the data from my odometry with the IMU of my robot. I'm following the template ekf_template.yaml, but when I view the topic diagnostics...
View Articleekf_localization_node : Wheel odometry and IMU filter output...
I'm trying to filter the IMU and Odometry for better odometry result with ROS Kinetic robot_localization ekf_localization_node. The result from topic /odometry/filtered looks even worst than the only...
View ArticleMultiple sensors using robot localization
Hello, currently i'm using an EKF from the robot localization package to generate the odom->base_link transformation. For this, i'm using three sources: wheels velocities, laser and visual. Since...
View Articlerobot_localization - using odometry and gps - get weird data
Hello there, I'm having trouble with the robot_localization package. At first I had odometry, IMU and GPS, but the IMU data got disturbed by a magnetic field of our robot. So I have to use only...
View Articlerobot_localization ekf faster than realtime offline post-processing
Hi, I'm using a Robot Localization EKF configured to receive twist - linear and angular velocity derived from a wheel encoder and odometry derived from SLAM position estimates. The EKF is working...
View ArticleHow to configure properly robot_localization with IMU, Odometry and GPS data
Hello everyone! I'm new to ROS, and I'm working with robot_localization package (2D mode) on Melodic. I'm using an IMU, Odometry and GPS data. I've configured robot_localization using two EKF and...
View ArticleIMU convention ENU (robot localization)
Hello I'm starting to use the robot_localization package and would like to know if my inertial motion unit is in the ENU convention .. how can I know? my imu WT901C - datasheet:...
View Articleekf_localization_node : Filterd odometry yaw depend on IMU too much and Laser...
I have a `odometry/filtered` fuse by wheel odometry `odom` and IMU `imu_data` with ekf_localization. I let my robot facing a wall and do some test with the `odometry/filtered`. I have two problem...
View Articlerobot_localization, problem with Roll, Pitch measurements
Dear all, I want to configure the package [robot_localization](http://docs.ros.org/melodic/api/robot_localization/html/index.html) (using Xsense IMU), in order that it takes into account the...
View Articlerobot_localization not producing data while fusing Odometry
I have a robot_localization node, and for testing purposes I want to fuse in a very accurate GPS receiver as if it was a normal smooth odometry sensor (e.g. wheel encoders). I have a nav_msgs/Odometry...
View ArticleHow to correctly conform to REP-145
I'm writing a driver for a GNSS/INS solution. The data it provides is: * An internally fused north- and gravity-oriented orientation * Acclerations in a Z-down frame * Rotational rates in a Z-down...
View Articlerobot_localization: how to deal with imu data
Recently, i am reading robot_localization and want to understand how it works. Previously, i have read and understood code and logics in robot_pose_ekf package. I am confused about how imu data is...
View ArticleCan robot_localization package be used on a full NED system?
My understanding is that the [robot_localization](http://wiki.ros.org/robot_localization) uses NEU (north east up) coordinate frame for everything. It specifically states that IMU should be set up in...
View ArticleWhy is robot_localization odom frame not updating with position messages?
Hello, We are trying to set up a dual-EKF for robot_localization. We have the following sensors: - IMU - Primarily used for Orientation - USBL- Sonar sensor that provides a global position (X,Y) -...
View ArticleRobot_localization is not updating movement from relative frame to world...
Hello, I am trying to set up an Extended Kalman Filter (EKF). I have the following types of sensors mounted on board of the ROV system: 1) IMU - Primarily used for Orientation 2) USBL- Sonar sensor...
View Articlerobot_localization asking for map to odom transform
So I just recently migrated from robot_pose_ekf to robot_localization as I heard it's better. I'm fusing data from wheel odometry, imu and laser_scan_matcher as odom0, imu0 and pose0 respectively. I...
View ArticleLocalization with Triangulation (pozyx)
I'm trying to use [Pozyx hardware] (http://pozyx.io) to localize my robot in a map. With the use of a EKF_localization_node I want to fuse AMCL and Pozyx data and localize the car. This to make sure...
View Articlerobot_localization from map to odom does not move on Ubuntu-18.04 Melodic
I am using `robot_localization`in my project. I'm fusing data from camera odometry, imu, depth sensor and usbl (XY position sensor) as odom0, , odom1, odom2 and imu0 respectively. I followed the...
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