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 | 1 | initial version |
The problems are in the data of imu, you are fusing this data of sensor with gps, you need know if the imu data are corrected, I paint your rute and have the next 
green is the path filtered and rose is the position gps, i created a tools for visualization.
The imu has follow the rep 103, try if the frame of imu is corrected, launch only the imu and test it.
I changed your .launch
<launch>
<node pkg="rosbag" type="play" name="rosbag_play" output="screen" args="--clock /home/jorge_j/catkin_ulises/src/pruebas/covar_2015-10-05-10-02-06.bag -d 3"/>
<!-- <node pkg="rosbag" type="play" name="rosbag_play" output="screen" args="clock /home/Downloads/filtered.bag -d 3"/> -->
<node pkg="tf2_ros" type="static_transform_publisher" name="bl_imu" args="0 0 0 0 0 0 1 base_link imu_link" />
<param name="odom0_queue_size" value="10"/> -->
<!-- Global (map) instance -->
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization_global" clear_params="true">
<param name="frequency" value="30"/>
<param name="sensor_timeout" value="0.1"/>
<param name="two_d_mode" value="true"/>
<param name="map_frame" value="map"/>
<param name="odom_frame" value="odom"/>
<param name="base_link_frame" value="base_link"/>
<param name="world_frame" value="odom"/>
<param name="transform_time_offset" value="0.0"/>
<!-- <param name="odom0" value="/jackal_velocity_controller/odom"/> -->
<param name="odom0" value="/odometry/gps"/>
<param name="imu0" value="/imu/data"/>
<!-- <rosparam param="odom0_config">[false, false, false,
false, false, false,
true, true, true,
false, false, true,
false, false, false]</rosparam> -->
<rosparam param="odom0_config">[true, true, false,
false, false, false,
false, false, false,
false, false, false,
false, false, false]</rosparam>
<rosparam param="imu0_config">[false, false, false,
true, true, true,
false, false, false,
true, true, true,
true, true, true]</rosparam>
<!-- <param name="odom0_differential" value="false"/> -->
<param name="odom0_differential" value="false"/>
<param name="imu0_differential" value="false"/>
<!-- <param name="odom0_relative" value="false"/> -->
<param name="odom0_relative" value="false"/>
<param name="imu0_relative" value="false"/>
<param name="imu0_remove_gravitational_acceleration" value="true"/>
<param name="print_diagnostics" value="true"/>
<!-- <param name="odom0_queue_size" value="10"/> -->
<param name="odom0_queue_size" value="10"/>
<param name="imu0_queue_size" value="10"/>
<param name="debug" value="false"/>
<param name="debug_out_file" value="debug_ekf_localization.txt"/>
<remap from="/odometry/filtered" to="/odometry/filtered/global"/>
</node>
<!-- navsat_transform -->
<node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform" respawn="true" output="screen">
<param name="frequency" value="30"/>
<param name="delay" value="3"/>
<param name="magnetic_declination_radians" value="0.190240888"/>
<!-- <param name="magnetic_declination_radians" value="-0.161617489"/> -->
<!-- <param name="yaw_offset" value="1.570796327"/> -->
<param name="yaw_offset" value="1.570796327"/>
<param name="zero_altitude" value="false"/>
<param name="broadcast_utm_transform" value="true"/>
<param name="publish_filtered_gps" value="true"/>
<param name="use_odometry_yaw" value="true"/>
<param name="wait_for_datum" value="false"/>
<remap from="/odometry/filtered" to="/odometry/filtered/global"/>
<!-- <remap from="/gps/fix" to="/navsat/fix"/> -->
</node>
</launch>
| | 2 | No.2 Revision |
The problems are in the data of imu, you are fusing this data of sensor with gps, you need know if the imu data are corrected, I paint your rute and have the next green is the path filtered and rose is the position gps, i created a tools for visualization.
The imu has follow the rep 103, try if the frame of imu is corrected, launch only the imu and test it.it. The x axis of the base_link frame should point in the direction of advance of the robot
I changed your .launch
<launch>
<node pkg="rosbag" type="play" name="rosbag_play" output="screen" args="--clock /home/jorge_j/catkin_ulises/src/pruebas/covar_2015-10-05-10-02-06.bag -d 3"/>
<!-- <node pkg="rosbag" type="play" name="rosbag_play" output="screen" args="clock /home/Downloads/filtered.bag -d 3"/> -->
<node pkg="tf2_ros" type="static_transform_publisher" name="bl_imu" args="0 0 0 0 0 0 1 base_link imu_link" />
<param name="odom0_queue_size" value="10"/> -->
<!-- Global (map) instance -->
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization_global" clear_params="true">
<param name="frequency" value="30"/>
<param name="sensor_timeout" value="0.1"/>
<param name="two_d_mode" value="true"/>
<param name="map_frame" value="map"/>
<param name="odom_frame" value="odom"/>
<param name="base_link_frame" value="base_link"/>
<param name="world_frame" value="odom"/>
<param name="transform_time_offset" value="0.0"/>
<!-- <param name="odom0" value="/jackal_velocity_controller/odom"/> -->
<param name="odom0" value="/odometry/gps"/>
<param name="imu0" value="/imu/data"/>
<!-- <rosparam param="odom0_config">[false, false, false,
false, false, false,
true, true, true,
false, false, true,
false, false, false]</rosparam> -->
<rosparam param="odom0_config">[true, true, false,
false, false, false,
false, false, false,
false, false, false,
false, false, false]</rosparam>
<rosparam param="imu0_config">[false, false, false,
true, true, true,
false, false, false,
true, true, true,
true, true, true]</rosparam>
<!-- <param name="odom0_differential" value="false"/> -->
<param name="odom0_differential" value="false"/>
<param name="imu0_differential" value="false"/>
<!-- <param name="odom0_relative" value="false"/> -->
<param name="odom0_relative" value="false"/>
<param name="imu0_relative" value="false"/>
<param name="imu0_remove_gravitational_acceleration" value="true"/>
<param name="print_diagnostics" value="true"/>
<!-- <param name="odom0_queue_size" value="10"/> -->
<param name="odom0_queue_size" value="10"/>
<param name="imu0_queue_size" value="10"/>
<param name="debug" value="false"/>
<param name="debug_out_file" value="debug_ekf_localization.txt"/>
<remap from="/odometry/filtered" to="/odometry/filtered/global"/>
</node>
<!-- navsat_transform -->
<node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform" respawn="true" output="screen">
<param name="frequency" value="30"/>
<param name="delay" value="3"/>
<param name="magnetic_declination_radians" value="0.190240888"/>
<!-- <param name="magnetic_declination_radians" value="-0.161617489"/> -->
<!-- <param name="yaw_offset" value="1.570796327"/> -->
<param name="yaw_offset" value="1.570796327"/>
<param name="zero_altitude" value="false"/>
<param name="broadcast_utm_transform" value="true"/>
<param name="publish_filtered_gps" value="true"/>
<param name="use_odometry_yaw" value="true"/>
<param name="wait_for_datum" value="false"/>
<remap from="/odometry/filtered" to="/odometry/filtered/global"/>
<!-- <remap from="/gps/fix" to="/navsat/fix"/> -->
</node>
</launch>
| | 3 | No.3 Revision |
The problems are in the data of imu, you are fusing this data of sensor with gps, you need know if the imu data are corrected, I paint your rute and have the next green is the path filtered and rose is the position gps, i created a tools for visualization.
The imu has follow the rep 103, try if the frame of imu is corrected, launch only the imu and test it. The x axis of the base_link frame should point in the direction of advance of the robotrobot. The angular_velocity and lineal acceleration of imu not is consistent with vehicle movement
I changed your .launch
<launch>
<node pkg="rosbag" type="play" name="rosbag_play" output="screen" args="--clock /home/jorge_j/catkin_ulises/src/pruebas/covar_2015-10-05-10-02-06.bag -d 3"/>
<!-- <node pkg="rosbag" type="play" name="rosbag_play" output="screen" args="clock /home/Downloads/filtered.bag -d 3"/> -->
<node pkg="tf2_ros" type="static_transform_publisher" name="bl_imu" args="0 0 0 0 0 0 1 base_link imu_link" />
<param name="odom0_queue_size" value="10"/> -->
<!-- Global (map) instance -->
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization_global" clear_params="true">
<param name="frequency" value="30"/>
<param name="sensor_timeout" value="0.1"/>
<param name="two_d_mode" value="true"/>
<param name="map_frame" value="map"/>
<param name="odom_frame" value="odom"/>
<param name="base_link_frame" value="base_link"/>
<param name="world_frame" value="odom"/>
<param name="transform_time_offset" value="0.0"/>
<!-- <param name="odom0" value="/jackal_velocity_controller/odom"/> -->
<param name="odom0" value="/odometry/gps"/>
<param name="imu0" value="/imu/data"/>
<!-- <rosparam param="odom0_config">[false, false, false,
false, false, false,
true, true, true,
false, false, true,
false, false, false]</rosparam> -->
<rosparam param="odom0_config">[true, true, false,
false, false, false,
false, false, false,
false, false, false,
false, false, false]</rosparam>
<rosparam param="imu0_config">[false, false, false,
true, true, true,
false, false, false,
true, true, true,
true, true, true]</rosparam>
<!-- <param name="odom0_differential" value="false"/> -->
<param name="odom0_differential" value="false"/>
<param name="imu0_differential" value="false"/>
<!-- <param name="odom0_relative" value="false"/> -->
<param name="odom0_relative" value="false"/>
<param name="imu0_relative" value="false"/>
<param name="imu0_remove_gravitational_acceleration" value="true"/>
<param name="print_diagnostics" value="true"/>
<!-- <param name="odom0_queue_size" value="10"/> -->
<param name="odom0_queue_size" value="10"/>
<param name="imu0_queue_size" value="10"/>
<param name="debug" value="false"/>
<param name="debug_out_file" value="debug_ekf_localization.txt"/>
<remap from="/odometry/filtered" to="/odometry/filtered/global"/>
</node>
<!-- navsat_transform -->
<node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform" respawn="true" output="screen">
<param name="frequency" value="30"/>
<param name="delay" value="3"/>
<param name="magnetic_declination_radians" value="0.190240888"/>
<!-- <param name="magnetic_declination_radians" value="-0.161617489"/> -->
<!-- <param name="yaw_offset" value="1.570796327"/> -->
<param name="yaw_offset" value="1.570796327"/>
<param name="zero_altitude" value="false"/>
<param name="broadcast_utm_transform" value="true"/>
<param name="publish_filtered_gps" value="true"/>
<param name="use_odometry_yaw" value="true"/>
<param name="wait_for_datum" value="false"/>
<remap from="/odometry/filtered" to="/odometry/filtered/global"/>
<!-- <remap from="/gps/fix" to="/navsat/fix"/> -->
</node>
</launch>
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