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

Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

0

How to configure ekf_localization_node in robot_localization package

asked 2015-01-15 01:25:44 -0600

KDROS
59 ●12 ●14 ●20

updated 2015-01-15 11:39:14 -0600

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.

edit retag flag offensive close merge delete

Comments

How to compare this position with ground truth.

KDROS ( 2015-01-19 00:36:35 -0600 )edit

@Tom Moore and @Anas Alhashimi plz look into this

KDROS ( 2015-01-19 12:13:08 -0600 )edit

1 Answer

Sort by » oldest newest most voted

3

answered 2015-01-19 19:26:39 -0600

flag of United Kingdom of Great Britain and Northern Ireland

13689 ●74 ●240 ●232 http://github.com/ayrton04

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.

edit flag offensive delete link

Comments

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 ( 2015-01-21 02:27:58 -0600 )edit

Have you tried rviz?

Tom Moore ( 2015-01-21 07:52:38 -0600 )edit

Nope, How to use that one? with robot_localization.

KDROS ( 2015-01-21 08:53:33 -0600 )edit

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

KDROS ( 2015-01-22 01:09:28 -0600 )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 ( 2015-01-22 01:10:44 -0600 )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 ( 2015-01-22 09:32:40 -0600 )edit

Question Tools

2 followers

Stats

Asked: 2015-01-15 01:25:44 -0600

Seen: 1,023 times

Last updated: Jan 19 '15

Related questions

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.

Powered by Askbot version 0.10.2