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robot_localization : no filtered odometry with visual odometry

asked 2015-10-06 19:19:35 -0500

Soonhac gravatar image

updated 2015-10-07 12:19:26 -0500

Hi,

There is no filtered odometry from robot_localization when I put visual odometry as an input. Interesting thing is that robot_localization successfully produces a filtered odometry when I put wheel odometry instead of visual odometry. Both visual odometry and wheel odometry uses same ros message (i.e. nav_msgs/Odometry). The launch file is follows.

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

  <param name="frequency" value="20"/>
  <param name="sensor_timeout" value="0.1"/>
  <param name="two_d_mode" value="true"/>

  <param name="map_frame" value="map"/>
  <param name="odom_frame" value="odom_combined"/>
  <param name="base_link_frame" value="base_footprint"/>
  <param name="world_frame" value="map"/> 


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

  <param name="odom0" value="/visual_odometer/odometry"/>  

  <rosparam param="odom0_config">[true, true, false,
                                  false, false, true,
                                  false, false, false,
                                  false, false, false,
                                  false, false, false]</rosparam>

  <param name="odom0_differential" value="false"/>

Any comments would be appreciated.

[Example of wheel odometry] image description

[Example of visual odometry] image description

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Comments

Can you please post a sample message from each input?

Tom Moore gravatar image Tom Moore  ( 2015-10-07 08:14:07 -0500 )edit

Hi Tom, I post sample messages above.

Soonhac gravatar image Soonhac  ( 2015-10-07 12:20:23 -0500 )edit

Having the same issue with the output from rtabmap. Did you find a solution?

theDrGray gravatar image theDrGray  ( 2015-10-15 18:10:04 -0500 )edit

Do the frame_ids in rtabmap start with forward slashes?

Tom Moore gravatar image Tom Moore  ( 2015-10-16 07:16:11 -0500 )edit

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answered 2015-10-08 19:08:55 -0500

Tom Moore gravatar image

Looking at the messages, I think you need to ditch the forward slashes in the visual odometry frame_ids. Also, make sure you're providing transforms from those frame_ids to your robot's frames. Also also, I would recommend fusing the linear velocities rather than the absolute positions, though you can fuse the orientations from the VO as is.

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answered 2015-10-07 03:44:39 -0500

This sounds like the output of your wheel and visual odometry differs. Note that odometry has fields for both the Twist and the Pose in the odometry frame. If the VSLAM approach you're using just fills the Twist with velocity data, but the Pose is not properly filled that could explain the symptoms you're seeing. In any case it would be good if you edit your question with example rostopic echoed output, once for wheel and once for visual odometry.

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Asked: 2015-10-06 19:19:35 -0500

Seen: 293 times

Last updated: Oct 08 '15