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here is my launch file: <launch> <node pkg="robot_localization" type="ekf_localization_node" name="ekf_odom_node" output="screen" &gt;<="" p="">

   <param name="frequency" value="30"/>

   <param name="sensor_timeout" value="0.1"/>

   <param name="two_d_mode" value="true"/>

   <remap from="odometry/filtered" to="odom/ekf/enc_imu"/>

   <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="/odom"/>

   <param name="odom0_differential" value="false" />

   <param name="odom0_relative" value="false" />

   <param name="odom0_queue_size" value="10" />

   <rosparam param="odom0_config">[false,  false, false,

                                   false, false, false,

                                   true, true, false,

                                   false, false, true,

                                   false, false, false]</rosparam>

   <param name="imu0" value="/imu_data"/>

   <param name="imu0_differential" value="false" />

   <param name="imu0_relative" value="true" />

   <param name="imu0_queue_size" value="10" />

   <param name="imu0_remove_gravitational_acceleration" value="true" />

   <rosparam param="imu0_config">[false,  false, false,

                                  false, false, false,

                                  false, false, false,

                                  true , true, true,

                                  true, true, true]</rosparam>

   <param name="print_diagnostics" value="true" />

   <param name="debug" value="false" />

   <param name="debug_out_file" value="debug_odom_ekf.txt" />

   <rosparam param="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, 0.005]</rosparam>

   <rosparam param="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, 1 , 0, 0, 0,    0, 0, 0, 0, 0,

                                                  0, 0, 0, 0, 0, 0, 0, 1 , 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, 1,    0, 0, 0, 0, 0,

                                                  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,    1, 0, 0, 0, 0,

                                                  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,    0, 1 , 0, 0, 0,

                                                  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,    0, 0, 1, 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]</rosparam>

</node> </launch>