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I am trying to use gmcl for global localisation but before that I'm also trying to use Robot Localisation package so that to avoid any map drifting although my Odometry is correct. I'm trying to fuse wheel Odometry with IMU MPU6050 sensor via robot localization but I'm getting some warnings as shown below:-

Here is my Launch file

<launch>

   <arg name="cmd_vel_topic"                                  default="cmd_vel" />
   <arg name="odom_topic"                                     default="odom" /> 
   <arg name="move_forward_only"                              default="true" />

   <arg name="map_file" default="$(find agv)/maps/mymap8.yaml"/>

   <param name="robot_description" command="cat $(find agv)/urdf/agv.urdf" />

   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />

   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

   <node pkg="tf" type="static_transform_publisher" name="base_link_to_imu_link" args="0.0 0.0 0.30 3.14152 0 0 /base_link /imu_link 10" /> 

   <include file="$(find agv)/launch/drive.launch" />

   <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>

   <include file="$(find agv)/launch/gmcl_diff.launch"/>

   <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
    <param name="serial_port"         type="string" value="/dev/ttyUSB0"/>
    <param name="serial_baudrate"     type="int"    value="115200"/><!--A1/A2 -->
    <!--param name="serial_baudrate"     type="int"    value="256000"--><!--A3 -->
    <param name="frame_id"            type="string" value="laser"/>
    <param name="inverted"            type="bool"   value="false"/>
    <param name="angle_compensate"    type="bool"   value="true"/>
   </node>

   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find agv)/cfg1/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find agv)/cfg1/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find agv)/cfg1/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find agv)/cfg1/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find agv)/cfg1/dwa_local_planner_params.yaml" command="load" />  

    <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
    <param name="controller_frequency" value="5.0" />
    <param name="controller_patience" value="15.0" />

           <param name="clearing_rotation_allowed" value="true" /> 
</node>

<node pkg="mpu6050_serial_to_imu" type="mpu6050_serial_to_imu_node" name="mpu6050_serial_to_imu_node" required="true">
       <param name="port" value="/dev/ttyUSB1"/>
           <param name="baud" value="115200"/>
    </node>

    <node name="imu_filter" pkg="imu_complementary_filter" type="complementary_filter_node" >
    </node>

    <node pkg="robot_localization" type="ekf_localization_node" name="ekf_filter_node" clear_params="true">
           <rosparam command="load" file="$(find agv)/cfg/ekf_test.yaml" />
           <remap from="odometry/filtered" to="odom"/>
    </node>

</launch>

Here is my ekf_test.yaml file:

frequency: 10 two_d_mode: true publish_tf: true map_frame: map odom_frame: odom base_link_frame: base_link world_frame: odom

odom0: /odom odom0_config: [false, false, false, false, false, true, true, true, false,
false, false, true, false, false, false,]

odom0_differential: true

imu0: /imu/data imu0_config: [false, false, false, false, false, true, false, false, false, false, false, true, true, false, false,]

imu0_differential: true

Kindly suggest me how to resolve this issue.

ROS Noetic IMU Sensor - MPU6050

Regards Suraj Singh