Jun 30, 2015 · robot_pose_ekf package need a /odom message. only /imu_data message (UM7) not enough for this package.So you need to publish a/ odom message from another package. ı published /pose2D message with laser_Scan_matcher package and ı transformed it /odom message like that /pose2D ---> /odom.

The robot rotated about 170 degrees-instead of 90- but the quaternions in /imu/data and /robot_pose_ekf/odom are fine (I mean expected data). I created a node to rotate 90 degrees using only IMU data and the robot rotated 90 degrees as expected.

Hello, I am using robot_pose_ekf to fuse data from IMU, encoders and gps. Filter is performing really bad. Results are far from being precise. During the running of the node, i get several errors: [ERROR] [1373966320.259468440]: Timestamps of …

Aug 31, 2012 · Anyone who is using robot_pose_ekf should make sure this process model is consistent with his or her robot's dynamics. For the sensor data, these are all linear models, so you can immediately see their definition like the odom measurement model defined here. Similarly, anyone using this should make sure these measurement models are appropriate.

Jul 27, 2016 · C:\fakepath\figure_1.png Also in robot_pose_ekf tutorials it is said that it will provide a tf between odom_combined → base_footprint, but when i run the following command and see the tf tree i cannot find any tf between odom_combined → base_footprint rosrun tf view frames C:\fakepath\Screenshot from 2016-07-27 20:54:35.png These are my ...

May 20, 2014 · However, I realized that it handles the data streams differently from robot_pose_ekf. For instance, robot_pose_ekf, expected wheel odometry to produce position data that it then applied differentially i.e. it took the position estimate at t_k-1 and t_k, transformed the difference to the odom frame, and applied it to the state estimate.

Aug 24, 2022 · I use the robot_pose_ekf package and I put a low covariance on yaw orientation of the IMU to give it a lot of "weight" in the final estimation (given the magnetometer is a precise and absolute sensor) but it seems like when I rotate in place of an angle of 90°, my IMU_frame end up 90° away from my IMU_base frame (that is fixed to base_link ...

Jul 25, 2012 · Regarding a generic pose estimation solution, I also would like to point you to our hector_localization stack. . Team Hector Darmstadt uses it since more than a year to estimate the full 3D pose of our rescue robot Hector, within the real-time loop of the Hector quadrotor and even for estimating the position, velocity and attitude of a small airplane as part of our flight …

Tf is good enough to visualize the position of your robot, it's even better than some arrows. Why do you want display a odometry type in rviz ? At worst it's easy to build a node to convert from PoseStamped to nav_msgs/Odometry, see the definition poseStamped and odometry. Odometry has also velocity terms and robot_pose_ekf only gives you a ...

Aug 10, 2012 · /robot_pose_ekf/odom will be more accurate than /odom because the kalman filter uses the robot's motion model along with other observations to maintain a better estimate of the robot's pose. /odom, on the other hand simply gives you the raw data provided by the turtlebot base, which is notoriously bad.