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I am working in a project, where I have to use Robot Position.
IMU unit is attached with that, Now I found Robot_Localization package, which I can use in my project. I dont have any GPS device with robot and I dont know How to use this and what are the setup requirements before using this package.
Can I use Mobile as GPS device over Robot? If yes then How to Integrate with ROS?
Your IMU is going to give you, at most, orientation, angular velocity, and linear acceleration. An IMU alone is not going to be sufficient for navigation. If you do have wheel encoders that are producing velocity or position and an IMU, then you're in good shape. Read through the robot_localization wiki page and tutorials for information on how to set it up. You can also look at the sample launch files in the source code repo. You shouldn't have to make any code changes, no.
I am trying this, I will ask help again. But one more question is this package specific for any robot or can be used in any robot. I am using FIREBIRD VI Robot
For Android mobiles you can install "ROS Sensors Driver" from play store. then you will have a node that running in your mobile and publishing the sensors topics. I used the mobile acceleration sensor to control the pioneer robot. Check this tutorial for step by step guide.
I hope the GPS works also.
I usually use Monte Carlo localization for robot localization. Sorry, I never used Robot_Localization package before. Actually, I don't believe that kalman filter is a good solution for non-linear estimation problems.
Thanks Tom, I will check the UKF. Is the pkg compatible with ROS fuerte?
Tom Means Robot_localization is better than others. After Installation is there any need to change in code? or I can use directly? At this time I have IMU and Encoder counter which counts wheel rotations. I will check How can I use that. I am Using FirebirdVI from NEX Robotics. You can find details
Asked: 2014-12-30 05:43:15 -0500
Seen: 7,124 times
Last updated: Dec 30 '14
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This sounds like two questions. One is about using a mobile device as a GPS, and the other is about using robot_localization. I would suggest making them two separate questions.
Also, can you give us more details? Does your robot have odometry?
Yes It sounds like 2 ques but I found GPS integration in Robot_localization package, That is why I asked, What will happen If I wont use GPS?