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Hector pose estimation works, but only orientation and altitude is estimated

asked 2014-04-17 09:45:39 -0500

rock-ass gravatar image

updated 2014-04-30 11:51:51 -0500


I am trying to use hector_pose_estimation package for a real quadcopter. I have published information from IMU, barometer using sensor_msgs/Imu, hector_uav_msgs/Altimeter and pressure height messages using geometry_msgs/PointStamped message (just like hector_quadrotor package does in simulator).

When I visualise pose estimate using rviz I see changes in orientation and height, but it doesn't move sideways, it's stuck in center and only height and orientation changes.

Am I missing something out or hector_pose_estimation package doesn't calculate movement on XY axes? Using this package with simulator works fine, but with my real data from sensors - pose stuck in center.

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Does you IMU data include accelerometer and gyroscope data, or only gyro data?

ahendrix gravatar image ahendrix  ( 2014-04-17 13:52:26 -0500 )edit

IMU does include all data from acc and gyroscopes. Double checked data standard in sensor_data, also compared with data provided from gazebo simulator.

rock-ass gravatar image rock-ass  ( 2014-04-17 20:30:52 -0500 )edit

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answered 2014-04-30 12:01:29 -0500

rock-ass gravatar image

Finally figured out, pose estimation package requires gps sensor_msgs/NavSatFix data. Now I can get position (x, y) estimated. Also I noticed some strange behavior - algorithm estimated that quadrotor is falling (estimated altitude was negative), because IMU sensor Z axis was -9,8. I had to invert IMU's Z axis value to get the algorithm stabilize quadcopter's altitude.

Hope this helps if someone encounter similar problem.

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If I'm not mistaken the IMU Z-axis is +ve if going downward.

alfa_80 gravatar image alfa_80  ( 2014-05-01 20:07:16 -0500 )edit

As far as I understand positive Z would be going down faster than gravity pulls you. But this time +10Z mean hover

rock-ass gravatar image rock-ass  ( 2014-05-01 20:30:14 -0500 )edit

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Asked: 2014-04-17 09:45:39 -0500

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Last updated: Apr 30 '14