Generate odometry from encoders, cmd_vel, differential velocity

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

Marcus Barnet
277 ●63 ●74 ●83

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!

edit retag flag offensive close merge delete

add a comment

1

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

Tom Moore

flag of United Kingdom of Great Britain and Northern Ireland

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

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).

edit flag offensive delete link

add a comment

0

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

Mark Rose

1563 ●8 ●17 ●21

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.

edit flag offensive delete link

add a comment

Generate odometry from encoders, cmd_vel, differential velocity

2 Answers

Question Tools

Stats

Related questions

Generate odometry from encoders, cmd_vel, differential velocity edit

2 Answers

Question Tools

Stats

Related questions

Generate odometry from encoders, cmd_vel, differential velocity