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robot_localization package: Test1 gives unexpected results.

Hi there, I am using robot_localization and runing the test1 as follows:

roslaunch robot_localization test_ekf_localization_node_bag1.test

I log two odometry positions:

/huskyvelocitycontroller/odom

/odometry/filtered When I plot them I find as follows: image description

Is the '/odometry/filtered' corrected positions? It looks odd to me. What am I missing here?

Thanks in advance.

Asked by cognitiveRobot on 2022-07-07 08:38:46 UTC

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Answers

We have no way of knowing how accurate either of the paths you show is. You will need someone to provide "ground truth" to figure that out.

odometry is an estimate of the robot's current pose, typically calculated using integration, and it usually becomes less accurate as more data is integrated.

/husky_velocity_controller/odom is probably odom calculated only from the wheel-encoder sensors.

/odometry/filtered is probably the output from the robot_localization kalman filter.

Asked by Mike Scheutzow on 2022-07-16 07:43:59 UTC

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