[with bag file] Use GPS with robot_localization and navsat_transform_node [closed]

asked 2017-03-05 14:40:32 -0600

Marcus Barnet gravatar image

updated 2017-03-14 10:57:32 -0600

Hi to all, hi @Tom Moore,

my configuration includes Novatel RTK GPS, Razor IMU and Husky with wheel encoders. I would like to implement a GPS waypoint navigation in ROS by using robot_localization and navsat_transform_node as discussed in this previous topic.

My Razor IMU with ROS driver report non-zero values when facing EAST, so I added the yaw_offset to make the IMU work accordingly with navsat_transform_node.

My imu topic is: /imu

My GPS topic is: /fix

I tried to modify my control.launch file in order to add the navsat_transform_node, but I don't know if it is correct. I do not know if I correctly handled the two robot_localization nodes in the control.launch file.

If I tried to playback my recorded bag file in RVIZ, I receive this error:

Fixed Frame [map] does not exist
No transform from [base_footprint] to frame [map]

If I change the fixed_frame to odom, I see my robot jumping randomly in RVIZ without any reason.

image description

If I set fixed_frame to map, I get this error:

[ERROR] [1489506379.984277505, 45.920000000]: Could not obtain transform from odom->base_link

May be I did some mistake with the frames, can you please give me some suggestions on how to solve this problem? Do you have the possibility to run my bag file?

If I change the world_frame in test.yaml file, I get an error when I launch the Husky control.launch file.

Can you please give me any suggestions, please?

EDIT1: I added the magnetic declination for the GPS.

My control.launch file:

<?xml version="1.0"?>
<launch>
  <rosparam command="load" file="$(find husky_control)/config/control.yaml" />

  <node name="base_controller_spawner" pkg="controller_manager" type="spawner" args="husky_joint_publisher husky_velocity_controller --shutdown-timeout 3"/>

  <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" respawn="true">
    <param name="magnetic_declination_radians" value="0.0640"/>
    <param name="yaw_offset" value="1.5707963"/>
    <remap from="/imu/data" to="/imu" />
    <remap from="/gps/fix" to="/fix" />
    <remap from="/odometry/filtered" to="/odometry/filtered" />
  </node>

  <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization">
    <rosparam command="load" file="$(find husky_control)/config/test.yaml" />
     <param name="two_d_mode" value="false"/>
  </node>

  <node pkg="interactive_marker_twist_server" type="marker_server" name="twist_marker_server" output="screen"/>

  <node pkg="twist_mux" type="twist_mux" name="twist_mux">
    <rosparam command="load" file="$(find husky_control)/config/twist_mux.yaml" />
    <remap from="cmd_vel_out" to="husky_velocity_controller/cmd_vel"/>
  </node>

<node pkg="tf" type="static_transform_publisher"  name="base_to_realsense"
      args="-0.3 0 1.1 1.5 3.14 1.5 /front_bumper_link /realsense_frame 100" />
 <node pkg="tf" type="static_transform_publisher"  name="base_to_laser"
      args="-0.3 0 0.6 0 0 0 /front_bumper_link /laser 100" />
<node pkg="tf" type="static_transform_publisher"  name="base_to_color"
      args="0 0 0 0 0 0 /realsense_frame /camera_color_optical_frame 100" />
<node pkg="tf" type="static_transform_publisher"  name="base_to_depth"
      args="0 0 0 0 0 0 /realsense_frame /camera_depth_optical_frame 100" />
<!-- <node pkg="tf" type="static_transform_publisher"  name="base_to_imu"
      args="0 0 0 0 0 0 /imu_link /base_imu 100" /> -->
 <node pkg="tf" type="static_transform_publisher"  name="base_to_gps"
      args="-0.3 0 0.9 0 0 0 /front_bumper_link /gps 100" />
<node pkg="tf" type="static_transform_publisher"  name="base_to_imu"
      args="0 ...
(more)
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Closed for the following reason the question is answered, right answer was accepted by Marcus Barnet
close date 2017-05-04 02:30:30.094241

Comments

I tried to run the code, but I get strange behaviors in RVIZ. When I load the imu values into RVIZ, the robot frame disappears. May be I mounted the IMU in the wrong way? Now, the IMU x-axis faces the front bumper of the robot. Is it correct?

Marcus Barnet gravatar imageMarcus Barnet ( 2017-03-06 13:24:53 -0600 )edit

I edited my first message in order to add the reference for each frame and the magnetic declination. Can you tell me if it is correct please?

Marcus Barnet gravatar imageMarcus Barnet ( 2017-03-11 09:54:04 -0600 )edit

I added the RVIZ screenshot and a recorded bag file with /fix and /imu topics in addition to the Husky topics.

Marcus Barnet gravatar imageMarcus Barnet ( 2017-03-14 10:38:53 -0600 )edit

Hi, can you solve the problem?. I'm newbie in ROS, and now I'm triying to configure the navsat_transform_node and ekf_localization_node for an UM7 orientation sensor and an Adafruit Ultimate GPS Breakout. I based my configuration in your examples but I have some problems with the tf/ and frames_id

Razek gravatar imageRazek ( 2017-03-22 14:20:47 -0600 )edit

You may add an image of rqt_graph of your system ?

Razek gravatar imageRazek ( 2017-03-22 14:24:41 -0600 )edit

My code is not working, I didn't solved my problem, so you should not use it! I'm sorry! I'm waiting for a solution..

Marcus Barnet gravatar imageMarcus Barnet ( 2017-03-22 14:37:42 -0600 )edit
1

Thanks Marcus for your fast response

Razek gravatar imageRazek ( 2017-03-22 15:15:31 -0600 )edit

Try to follow this other topic: http://answers.ros.org/question/25754... I hope someone will answer so we can solve our problem!

Marcus Barnet gravatar imageMarcus Barnet ( 2017-03-22 15:32:46 -0600 )edit