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How to Use robot_localization

asked 2014-12-30 05:43:15 -0600

KDROS gravatar image

updated 2014-12-30 07:41:51 -0600

Tom Moore gravatar image

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?

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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?

Tom Moore gravatar image Tom Moore  ( 2014-12-30 07:19:54 -0600 )edit

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?

KDROS gravatar image KDROS  ( 2014-12-30 10:37:02 -0600 )edit

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answered 2014-12-30 11:12:04 -0600

Tom Moore gravatar image

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.

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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

KDROS gravatar image KDROS  ( 2014-12-30 23:52:12 -0600 )edit

It's meant to be used for any robot. I'm not familiar with the Firebird, but if the data all conforms to ROS standards, robot_localization ought to work with it.

Tom Moore gravatar image Tom Moore  ( 2014-12-31 11:48:00 -0600 )edit

can you plz tell me how to execute these. I am creating node that will publish /odom topic, is ekf_template.launch is enough for getting pose info? how to write publisher node for Imu?

KDROS gravatar image KDROS  ( 2015-01-14 04:46:47 -0600 )edit

If, per se, I was interested in speed (not even necessarily velocity) but not position, would an IMU be enough hardware to use with this package? I'm trying to find how to use this package and can't find any clear examples. Thanks in advance

el loco gravatar image el loco  ( 2019-08-27 14:01:44 -0600 )edit

An IMU only provides rotational velocity. It doesn't provide linear velocity or speed. The double integration of linear acceleration will make your state estimate unusable within a few seconds.

Tom Moore gravatar image Tom Moore  ( 2019-08-31 03:36:39 -0600 )edit

answered 2014-12-30 06:26:27 -0600

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.

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Its good, I will try it. But main problem is how to use Robot_localization package for pose estimation. Plz help me in that.

KDROS gravatar image KDROS  ( 2014-12-30 06:38:03 -0600 )edit

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.

Anas Alhashimi gravatar image Anas Alhashimi  ( 2014-12-30 06:53:54 -0600 )edit

It has a UKF as well.

Tom Moore gravatar image Tom Moore  ( 2014-12-30 07:18:09 -0600 )edit

Thanks Tom, I will check the UKF. Is the pkg compatible with ROS fuerte?

Anas Alhashimi gravatar image Anas Alhashimi  ( 2014-12-30 07:40:17 -0600 )edit

No, it was released after Fuerte was EOL'd, and so it was built to use catkin. However, you could potentially pull down the source and make it compatible with rosbuild. Not sure if all the dependencies will work.

Tom Moore gravatar image Tom Moore  ( 2014-12-30 07:45:24 -0600 )edit

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

KDROS gravatar image KDROS  ( 2014-12-30 10:33:55 -0600 )edit

Asan: Is ROS ANdroid Sensor supportable in ROS HYDRO? I am using ROS Hydro with ubuntu 12.04 64 Bit.

KDROS gravatar image KDROS  ( 2014-12-31 05:22:20 -0600 )edit

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Asked: 2014-12-30 05:43:15 -0600

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Last updated: Dec 30 '14