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hector_localization

asked 2012-03-23 11:40:31 -0500

PedroS. gravatar image

updated 2014-01-28 17:11:44 -0500

ngrennan gravatar image

Hi, if anyone could help i'd be grateful. I chose that topic, but if anyone knows about any other package/stack that could solve my problem, shoot!. :D

I am looking for a package that estimates a robot's position over time, using only the information of an IMU.(if there is one...)

I probably found one(hector_localization) that can solve my problem, however I cant make it work. It compiled without any problem, I changed the subscribed topic to have the same name as the one published by my lse_xsens. I can get the orientations but not the position. I dont know if it needs the information of gps or any other sensor to work. I found no information explaining how to use, so I'd appreciate any help I can get. Thanks.

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Does only IMU mean: no laser or similar?

dornhege ( 2012-03-24 05:24:08 -0500 )edit

yes I only have the information that comes from the imu. I know it's not the best way to do things but that's what i got.

PedroS. ( 2012-03-24 06:17:25 -0500 )edit

Hi. I would like to use hector_localization too, but I can make it run. It compiles but I dont know how to run and what parameters it need. Any help?

Astronaut ( 2013-01-24 16:09:41 -0500 )edit

If you have a new question open one instead of commenting on other question. You will also need to describe your actual problem.

dornhege ( 2013-01-24 23:06:33 -0500 )edit

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answered 2012-03-24 06:39:36 -0500

dornhege gravatar image

In the case of IMU only hector_localization and in fact all localization algorithms aren't applicable. The only thing you can do is integrate information from the IMU depending on what kind of information you get.

For the xsens that means integrating the xyz accelerations and gyros. Expect high drift, very quickly, though.

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answered 2012-04-02 06:41:46 -0500

Hi, I am the author of hector_localization. As Christian already mentioned, hector_localization cannot give you velocity or position information from pure IMU measurements only. In fact, it only estimates the pose and twist components that are observable from the measurements you have and fixes the rest. You can check (and publish if you want) the current status information using the PoseEstimation::getSystemStatus() method.

Documentation for hector_localization is still missing and we plan to add some more features within the next weeks before announcing the stack and consider it as more or less stable. However, we already are using it successfully to estimate the pose of our Hector rescue robot and the Hector quadrotor by fusing IMU, compass, barometer, GPS and pose updates from the hector_slam stack.

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Hello. I have a problem using hector mapping. I would like to fuse the IMU data in the slam system. So any help how to use hector_localization and hector slam???

Astronaut ( 2013-01-02 19:56:04 -0500 )edit

Hi, I have the same issue here! Is it still planned to have more documentation on this stack (hector_localization) ? We would like to use it to fuse IMU and hector slam data to get a robust navigation data.

ETS-Dronolab ( 2013-03-22 10:21:41 -0500 )edit

I still did not fix the problem. IS there any improvement or more help on hector_lokalization??

Astronaut ( 2013-03-22 14:36:19 -0500 )edit

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Asked: 2012-03-23 11:40:31 -0500

Seen: 745 times

Last updated: Apr 02 '12