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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.

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

dornhege gravatar imagedornhege ( 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 imageROSuser007 ( 2020-01-23 03:52:42 -0600 )edit

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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.

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any example showing how to do this...

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

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

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

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

Seen: 116 times

Last updated: Aug 26 '14