Robot localization does not publish data
Hi,
I have Odom data and 9DOF IMU data, and im trying to use Robot localization. Both of the data are being published.
sample imu data:
header:
seq: 472
stamp:
secs: 1684922348
nsecs: 557153940
frame_id: "base_imu_link"
orientation:
x: -0.0986390100467
y: -0.0272804708582
z: 0.886936147054
w: 0.450411359377
orientation_covariance: [0.0025, 0.0, 0.0, 0.0, 0.0025, 0.0, 0.0, 0.0, 0.0025]
angular_velocity:
x: -0.03
y: 0.04
z: 0.0
angular_velocity_covariance: [0.02, 0.0, 0.0, 0.0, 0.02, 0.0, 0.0, 0.0, 0.02]
linear_acceleration:
x: -1.33376921875
y: -1.17672
z: 8.70780460937
linear_acceleration_covariance: [0.04, 0.0, 0.0, 0.0, 0.04, 0.0, 0.0, 0.0, 0.04]
sample odom data:
header:
seq: 360
stamp:
secs: 1684922445
nsecs: 158451080
frame_id: "odom"
child_frame_id: "base_link"
pose:
pose:
position:
x: 1.34112676051
y: 2.39530612982
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.813415504789
w: 0.581683089464
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0
.0, 0.0, 0.0, 0.0, 0.0]
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
The following is my config file:
### ekf config file ###
ekf_filter_node:
ros__parameters:
frequency: 30.0
sensor_timeout: 0.1
two_d_mode: true
transform_time_offset: 0.0
transform_timeout: 0.0
print_diagnostics: true
debug: false
debug_out_file: file.txt
publish_tf: true
publish_acceleration: false
reset_on_time_jump: true
odom_frame: odom # Defaults to "odom" if unspecified
base_link_frame: base_link # Defaults to "base_link" if unspecified
world_frame: odom # Defaults to the value of odom_frame if unspecified
odom0: odom
odom0_config: [true, true, false,
false, false, false,
false, false, false,
false, false, true]
odom0_queue_size: 10
odom0_nodelay: false
odom0_differential: false
odom0_relative: false
odom0_pose_rejection_threshold: 5.0
odom0_twist_rejection_threshold: 1.0
imu0: /imu
imu0_config: [false, false, false,
false, false, false,
true, true, true,
false, false, false]
imu0_nodelay: false
imu0_differential: false
imu0_relative: true
imu0_queue_size: 10
imu0_pose_rejection_threshold: 0.8 # Note the difference in parameter names
imu0_twist_rejection_threshold: 0.8 #
imu0_linear_acceleration_rejection_threshold: 0.8 #
imu0_remove_gravitational_acceleration: true
control_timeout: 0.2
control_config: [true, false, false, false, false, true]
acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4]
deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5]
acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9]
deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0]
process_noise_covariance: [0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015]
initial_estimate_covariance: [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9]
and my launch fils:
<
launch>
<arg name="odom_frame_id" default="odom" />
<arg name="base_frame_id" default="base_link" />
<arg name="world_frame_id" default="map" />
<node pkg="robot_localization" type="ekf_localization_node" name="robot_localization_node">
<rosparam command="load" file="$(find your_package_name)/config/ekf_params.yaml"/>
</node>
<node pkg="tf" type="static_transform_publisher" name="base_to_odom_broadcaster"
args="0 0 0 0 0 0 $(arg odom_frame_id) $(arg base_frame_id) 100" />
<node pkg="tf" type="static_transform_publisher" name="map_to_odom_broadcaster"
args="0 0 0 0 0 0 $(arg odom_frame_id) $(arg world_frame_id) 100" />
<node pkg="tf" type="static_transform_publisher" name="imu_to_base_link_broadcaster"
args="0 0 0 0 0 0 imu_base_link base_link 100" />
</launch>
Asked by alam121 on 2023-05-24 05:34:08 UTC
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