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How to configure ekf_localization_node in robot_localization package

asked 2015-01-15 01:25:44 -0500

KDROS gravatar image

updated 2015-01-15 11:39:14 -0500

How to use ekf node in robot_localization package, I have odom and Imu data check discussion.

Is it possible to calculate robot_Pose with out using tf and urdf ?

should I start all node together in launch file??

correct me If i am wrong.

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How to compare this position with ground truth.

KDROS gravatar image KDROS  ( 2015-01-19 00:36:35 -0500 )edit

@Tom Moore and @Anas Alhashimi plz look into this

KDROS gravatar image KDROS  ( 2015-01-19 12:13:08 -0500 )edit

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answered 2015-01-19 19:26:39 -0500

Tom Moore gravatar image

It depends on the frames in which your data is reported. If your odometry or IMU data is in a frame other than your world_frame or base_link_frame, then you will need to provide a transform using tf so that robot_localization knows how to transform the data. I would advise that you start robot_localization in its own launch file. How you organize your launch files for everything else is entirely up to you. robot_localization doesn't need any URDF models, unless you are using those models to provide the tf transforms for your sensors.

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It is working Now, Is there any way to draw a graph or plot for robot_localization's output. (Odometry/filtering)? Some default Covariance matrix is given, on which basis I should update that one.

KDROS gravatar image KDROS  ( 2015-01-21 02:27:58 -0500 )edit

Have you tried rviz?

Tom Moore gravatar image Tom Moore  ( 2015-01-21 07:52:38 -0500 )edit

Nope, How to use that one? with robot_localization.

KDROS gravatar image KDROS  ( 2015-01-21 08:53:33 -0500 )edit

Thanx @Tom Moore I can see in rviz. Understood my mistake.

KDROS gravatar image KDROS  ( 2015-01-22 01:09:28 -0500 )edit

@Tom Moore But Can you tell me, How should I decide values for Covariance matrix. I dropped one mail to you. Waiting for reply.

KDROS gravatar image KDROS  ( 2015-01-22 01:10:44 -0500 )edit

Yes, I'm afraid I've been a bit busy the past couple weeks. I'll look into it as soon as possible.

Tom Moore gravatar image Tom Moore  ( 2015-01-22 09:32:40 -0500 )edit

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Asked: 2015-01-15 01:25:44 -0500

Seen: 906 times

Last updated: Jan 19 '15