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Generate odometry from encoders, cmd_vel, differential velocity

asked 2016-07-20 07:25:44 -0500

Marcus Barnet gravatar image

Hi to all,

I'm trying to mix /imu/data with my robot (Clearpath Husky) odometry by using the robot_localization package in order to use them with the rtabmap_ros package with my RealSense and SICK data. I'm doing this because I want to improve my 3D map by adding IMU information in RTAB-Map.

I already have the /imu/data information, but I don't have the /odometry topic. During my field tests, I only recorded encoders, differential_velocity and cmd_vel.

Is it possbible to use these topics to generate the /odometry message needed by the robot_localization package?

I hope you can help me! Thank you!

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answered 2016-08-28 01:49:22 -0500

Tom Moore gravatar image

The EKF in r_l supports multiple input message types. See this section of the wiki. You aren't required to have any set of input topics; you can have as many or as few as you want (though more is usually better).

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answered 2016-07-22 14:12:49 -0500

Mark Rose gravatar image

According to the Interfacing with Husky tutorial, the husky robot controller has built-in odometry integration from the encoders and IMU using an Extended Kalman Filter. The filtered result is published on the /odometry/filtered topic. You could remap that to odometry in the move_base configuration, for example, to use the filtered odometry instead of the encoder-only odometry.

If instead you are not using the Husky IMU and want to filter it yourself, you could subscribe to husky_velocity_controller/odom (or remap) in robot_localization.

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Asked: 2016-07-20 07:25:44 -0500

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Last updated: Aug 28 '16