are the turtlebot covariance matrices right?
I am settting up covariance matrices and don't understand some of the entries used for turtlebot. from: /opt/ros/groovy/stacks/turtlebot_create/create_node/src/create_node/covariances.py
first, we have :
> ODOM_POSE_COVARIANCE = [1e-3, 0, 0, 0, 0, 0,
> 0, 1e-3, 0, 0, 0, 0,
> 0, 0, 1e6, 0, 0, 0,
> 0, 0, 0, 1e6, 0, 0,
> 0, 0, 0, 0, 1e6, 0,
> 0, 0, 0, 0, 0, 1e3]
Why is the covariance on z axis (last row) rotation = 1e3? This is large considering the gyro accuracy. Seems like it should be more like 1e-3.
next, we have the covariance used when the robot is stopped, so we know some parameters much more accurately:
ODOM_POSE_COVARIANCE2 = [1e-9, 0, 0, 0, 0, 0,
0, 1e-3, 1e-9, 0, 0, 0,
0, 0, 1e6, 0, 0, 0,
0, 0, 0, 1e6, 0, 0,
0, 0, 0, 0, 1e6, 0,
0, 0, 0, 0, 0, 1e-9]
I don't understand the entries here for covariance y (second row). Seems like the diagonal entry should be the same as x (1e-9 instead of 1e-3) and I don't understand why there is an off-diagonal nonzero (but close, at 1e-9) entry for y-z. Are those axes coupled somehow?
Next, we have the twist ones:
ODOM_TWIST_COVARIANCE = [1e-3, 0, 0, 0, 0, 0,
0, 1e-3, 0, 0, 0, 0,
0, 0, 1e6, 0, 0, 0,
0, 0, 0, 1e6, 0, 0,
0, 0, 0, 0, 1e6, 0,
0, 0, 0, 0, 0, 1e3]
Since odom twist is reported in the child (robot, typically base_footprint) frame, for a turtlebot, there is no y or z velocity, only x. So why does the y velocity covariance (second row) = 1e-3 instead of 1e6? And again, why is the z rotation (last row) covariance (1e3) so large?
Finally, for twist when stopped:
ODOM_TWIST_COVARIANCE2 = [1e-9, 0, 0, 0, 0, 0,
0, 1e-3, 1e-9, 0, 0, 0,
0, 0, 1e6, 0, 0, 0,
0, 0, 0, 1e6, 0, 0,
0, 0, 0, 0, 1e6, 0,
0, 0, 0, 0, 0, 1e-9]
Again, I don't understand why the y twist covariance (2nd row) is 1e-3 instead of 1e6 and also why there is an off-diagonal entry (1e-9) y-z coupling instead of just 0 there.
