Zigzag ground track from eight shape flight path
Hi all, I tried to using ukf template recursively with navsat_transform node following http://answers.ros.org/question/20007...
With my eight flight path it seem zigzag ground track as shown in link below.
https://onedrive.live.com/?authkey=%2...
This is my setup launch file.
<launch>
<node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" respawn="true" output="screen">
<param name="frequency" value="30"/>
<param name="delay" value="0"/>
<param name="magnetic_declination_radians" value="0"/>
<param name="yaw_offset" value="0"/>
<param name="zero_altitude" value="true"/>
<param name="broadcast_utm_transform" value="false"/>
<param name="publish_filtered_gps" value="false"/>
<param name="use_odometry_yaw" value="false"/>
<param name="wait_for_datum" value="false"/>
<remap from="/imu/data" to="/mavros/imu/data"/>
<remap from="/gps/fix" to="/mavros/global_position/raw/fix"/>
</node>
<node pkg="robot_localization" type="ukf_localization_node" name="ukf_se" clear_params="true">
<rosparam command="load" file="$(find robot_localization)/params/ukf_max.yaml" />
</node>
</launch>
and this is my paramerter
frequency: 30
sensor_timeout: 0.1
transform_time_offset: 0.0
two_d_mode: false
print_diagnostics: true
# map_frame: map
odom_frame: odom
base_link_frame: fcu
world_frame: odom
alpha: 0.001
kappa: 0
beta: 2
odom0: /odometry/gps
odom0_config: [true, true, true,
false, false, false,
false, false, false,
false, false, false,
false, false, false]
odom0_differential: false
odom0_relative: false
odom0_queue_size: 2
odom0_nodelay: false
imu0: /mavros/imu/data
imu0_config: [false, false, false,
true, true, true,
false, false, false,
true, true, true,
true, true, true]
imu0_nodelay: false
imu0_queue_size: 5
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, 0.04, 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, 0.02, 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]
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 ...
Someone have tested?
My dataset is based on pixhawk autopilot board and record the output from mavros package that x is front y is left respect to body frame. For you suggestion, i will test and tell you reault tomorrow but i doub about odometry measurement, is IMU used to be odometry in navsat_transform ?
It look better now, Thx u :D https://1drv.ms/i/s!Amsv72jI4yJwgTmsK... And i tried to tune position process covariance, it seem no zigzag ground track now.