ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Can also link yaw rate sensor data with map

asked 2014-08-20 05:46:55 -0600

sumanth gravatar image

updated 2014-08-26 01:39:49 -0600

I am using gmapping to map the aera with my robot, I am presently using odo data and data from kinect for mapping.

update after dornhege answer

I get the odo ticks from the robot, which I convert to the distance travelled by each wheel and theta, which I get from the difference of the distances travelled by wheels divided by wheel base length. I give this to /odom.

Presently I am using this published /odom data for the mapping and navigation.

I even Have a yaw rate sensor on the robot which gives yaw angle (along with acceleration values), How can I use this with robot_pose_ekf which also accepts Roll and Pitch angles, but I only have yaw angels how can I achieve the fused odo data with yaw using robot_pose_ekf.?

Many thanks in advance.

edit retag flag offensive close merge delete



You would just set roll and pitch to 0. Yaw angles are the important ones for slam.

dornhege gravatar image dornhege  ( 2014-08-26 05:15:31 -0600 )edit

Warning: A yaw rate sensor's output is not an angle [rad] or [°], it is an angular velocity [rad/s] or [°/s]. P.S: I am aware the question is more than 5 (five) years old, but it can still be found and probably continues to confuse people.

ROSuser007 gravatar image ROSuser007  ( 2020-01-23 03:52:42 -0600 )edit

1 Answer

Sort by » oldest newest most voted

answered 2014-08-20 06:32:43 -0600

dornhege gravatar image

The cmmon way is to filter odometry with yaw, e.g. by robot_pose_ekf and use this as odometry for gmapping.

edit flag offensive delete link more


any example showing how to do this...

sumanth gravatar image sumanth  ( 2014-08-20 08:17:28 -0600 )edit

I have modified the question, can you please re-vist the question.

sumanth gravatar image sumanth  ( 2014-08-26 01:40:19 -0600 )edit

Question Tools

1 follower


Asked: 2014-08-20 05:46:55 -0600

Seen: 319 times

Last updated: Aug 26 '14