tune efk_localization_node [closed]

edit

Hello everyone, first, here is my setup: Ubuntu 14.04 + ROS Jade

I simulated a two-wheeled robot driving circles, its width is 1m20, the radius of its wheels is 30 cm. It means that both the linear velocity (following the x-axis) and the angular velocity (following the z-axis) are always constant in this case.

Actually, I fused the data into the ekf_localization_node using a TwistWithCovarianceStamped message (published in the "odom" frame) and thanks to this launchfile:

<!-- Launch file for ekf_localization_node -->

<launch>

<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true">

  <!-- ======== STANDARD PARAMETERS ======== -->


  <param name="frequency" value="20"/>


  <param name="sensor_timeout" value="0.06"/>


  <param name="two_d_mode" value="true"/>



  <!-- Defaults to "odom" if unspecified -->
  <param name="odom_frame" value="odom"/>
  <!-- Defaults to "base_link" if unspecified -->
  <param name="base_link_frame" value="base_link"/>
  <!-- Defaults to the value of "odom_frame" if unspecified -->
  <param name="world_frame" value="odom"/>

  <param name="transform_time_offset" value="0.0"/>


    <param name="twist0" value="/turtle1/cmd_vel"/>


  <rosparam param="twist0_config">[false, false, false,
                                  false, false, false,
                                  true,  true, false,
                                  false, false, true,
                                  false, false, false]</rosparam>



  <param name="print_diagnostics" value="true"/>


  <param name="twist0_queue_size" value="2"/>


  <param name="debug"           value="false"/>

  <param name="debug_out_file"  value="debug_ekf_localization.txt"/>


  <rosparam param="process_noise_covariance">[0.05, 0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                              0,    0.05, 0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                              0,    0,    0.06, 0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                              0,    0,    0,    0.03, 0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                              0,    0,    0,    0,    0.03, 0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                              0,    0,    0,    0,    0,    0.06, 0,     0,     0,    0,    0,    0,    0,    0,    0,
                                              0,    0,    0,    0,    0,    0,    0.025, 0,     0,    0,    0,    0,    0,    0,    0,
                                              0,    0,    0,    0,    0,    0,    0,     0.025, 0,    0,    0,    0,    0,    0,    0,
                                              0,    0,    0,    0,    0,    0,    0,     0,     0.08, 0,    0,    0,    0,    0,    0,
                                              0,    0,    0,    0,    0,    0,    0,     0,     0,    0.01, 0,    0,    0,    0,    0,
                                              0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0.01, 0,    0,    0,    0,
                                              0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0.01, 0,    0,    0,
                                              0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0.01, 0,    0,
                                              0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0.01, 0,
                                              0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0.015]</rosparam>


       <rosparam param="initial_estimate_covariance">[1e-9, 0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                                      0,    1e-9, 0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                                      0,    0,    1e-9, 0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                                      0,    0,    0,    1e-9, 0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0 ...