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odometry not correctly working with humanoid_localization

I have humanoidlocalization (and only using humanoidlocalization as I am looking to only utilize odometry and localization for a rover). I have the following setup:

However, I get that the Odometry odomPose at (0,0,0)

I believe this is something wrong with configuring the transforms between all my frames. Given that I have the above sensor and no footprint to torso transform I am NOT sure what to adjust such that the odometry works correctly.

Since I have no footprint to torso transform frames, I tentatively set:

<param name="target_frame_id" value="/odom"/>
<param name="odom_frame_id" value="/odom"/>
<param name="base_footprint_id" value="/base_link"/>

and my /tf tree looks like: http://speedy.sh/aaCeb/frames.pdf

What am I missing here? Why is the odomPose always return (0,0,0)?

EDIT: I realized that Im doing a static transform from odom -> base_link. I dont think humanoidlocalization provides an `odom -> baselinktransform... does anyone suggestlaserscanmatcher` for this?

Asked by xuningy on 2014-06-27 09:39:28 UTC

Comments

Yes, you will definitely need a working odometry source for humanoid_localization, not a static transform. If you have a wheeled rover, the platform should provide odometry (dead reckoning or similar).

Asked by AHornung on 2014-06-30 04:18:41 UTC

Yep.Solved by adding Visual Odometry tf's to my transforms. Worked perfectly. Thanks!

EDIT: But this makes me wonder what is the role of the LRF in the package... is it suggested that another odometry source IS the LRF, and two odometry sources are reconciled in humanoid_localization? Please clarify..

Asked by xuningy on 2014-07-02 13:54:08 UTC

Odometry usually comes from wheel encoders or kinematics, that's the assumption in humanoid_localization. A LRF is not an odometry source but with a fixed map will give you absolute references in the world (in addition to odometry that is subject to drift and only used incrementally).

Asked by AHornung on 2014-07-04 07:18:25 UTC

Answers