Pose ekf slam topic mapping.

asked 2015-05-15 06:50:41 -0500

panos gravatar image

Hi all,

I am trying to use pose_ekf_slam package as is given here.

The nodes that the method expects as are described in the package are the following:

  • Position fixes of type PoseWithCovarianceStamped in the topic /pose_ekf_slam/pose_update

  • Linear velocity updates of type TwistWithCovarianceStamped are received through the topic /pose_ekf_slam/velocity_update

  • Vehicle orientation and angular velocity are expected at /pose_ekf_slam/imu_input

  • using an Imu sensor message. Finally, landmark updates have to be published at /pose_ekf_slam/landmark_update/landmark_id

I am currently having an IMU sensor giving messeges at topic /odom_imu_combined which is a message of type Odometry.

The mapping I have done now is similar-ish to that but I was wondering if someone has had experience with the package and could validate that it's ok.

I have added a listener to /odom_imu_combined and mapped it to the PubPose[line 93] function of the package

I have added a listener to /mobilse_base/commands/velocity and mapped it to pubVel[line 67] function

Finally the imu input is also mapped to /odom_imu_combined as it contains imu information.

My questions are the following:

How are the messages in pubImu, pubVel, pubImu related to the transformation after the message publishing(lines 61,87,115 in test_ekf_pose_slam)? Should I modify something there? Also, I take mu odometry from /_imu_combined which is part of /pose_ekf node and it already contains integrated imu information. Is it wrong? Will the imu transformations to the data be applied twice to my pose due to that? If so, do I have to use my /odom topic instead? I don't know if it makes sense, if you need some more specifications regarding my current setup, please let me know.



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