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Three questions:

1): Do you have a second EKF estimating map_frame:? If you do, start with only one EKF for now. From the documents:
__Note If your system does not have a map_frame, just remove it, and make sure world_frame is set to the value of odom_frame.__

2): Why are you fusing in Z velocity from your IMU into the EKF?

imu0: /imu/data
imu0_config: [false, false, false,
                    false,  false,  true,
                    false, false, true, # This one here?
                    false,  false,  true,
                    false,  false, true] # Are you using this value? ie: two_d_mode: true? Doesn't look like you are.

I don't know if there is any IMU that reports Z velocity, but if yours does I would be interested to know.

Also, are you estimating Z position/velocity? If no sensor is correcting the Z accelerations and your two_d_mode is somehow being set to true you might see interesting results in Z.

3) I don't see the attached bagfile, am I missing it somewhere?

Three questions:

1): Do you have a second EKF estimating map_frame:? If you do, start with only one EKF for now. From the documents:
__Note Note If your system does not have a map_frame, just remove it, and make sure world_frame is set to the value of odom_frame.__odom_frame.

2): Why are you fusing in Z velocity from your IMU into the EKF?

imu0: /imu/data
imu0_config: [false, false, false,
                    false,  false,  true,
                    false, false, true, # This one here?
                    false,  false,  true,
                    false,  false, true] # Are you using this value? ie: two_d_mode: true? Doesn't look like you are.

I don't know if there is any IMU that reports Z velocity, but if yours does I would be interested to know.

Also, are you estimating Z position/velocity? If no sensor is correcting the Z accelerations and your two_d_mode is somehow being set to true you might see interesting results in Z.

3) I don't see the attached bagfile, am I missing it somewhere?

Three Four questions:

1): Do you have a second EKF estimating map_frame:? If you do, start with only one EKF for now. From the documents:
Note If your system does not have a map_frame, just remove it, and make sure world_frame is set to the value of odom_frame.

2): Why are you fusing in Z velocity from your IMU into the EKF?

imu0: /imu/data
imu0_config: [false, false, false,
                    false,  false,  true,
                    false, false, true, # This one here?
                    false,  false,  true,
                    false,  false, true] # Are you using this value? ie: two_d_mode: true? Doesn't look like you are.

I don't know if there is any IMU that reports Z velocity, but if yours does I would be interested to know.

Also, are you estimating Z position/velocity? If no sensor is correcting the Z accelerations and your two_d_mode is somehow being set to true you might see interesting results in Z.

3) You are fusing in Z angular velocity, what IMU driver are you using? I have found that some drivers report angular velocity and orientation in two different methods. It is incredibly hard to properly mount the IMU and have them physically match. (This is due to flipping from NED to ENU by doing something like this: X->Y Z->-Z) the proper way is to do a Quaternion multiply: https://github.com/ros-drivers/microstrain_mips/issues/4

4) I don't see the attached bagfile, am I missing it somewhere?