navsat_transform_node with /odometry/gps null [closed]

asked 2017-03-16 14:47:12 -0500

Marcus Barnet gravatar image

updated 2017-03-16 14:48:16 -0500

I'm trying to fuse GPS data in robot_localization node with IMU and wheel encoders. I'm running a single instance of ekf_localization_node which takes as inputs IMU (/imu), wheel encoders and my GPS (/fix). Unfortunately, something is not working since I always get null values in /odometry/gps topics. I hope you can help me and I'm sorry for my long topic!

I recorded a bag file with my acquisitions and these are some details. When I try to run it in RVIZ, I get this error:

[ERROR] [1489693341.983362616, 7.022000000]: Could not obtain transform from odom->base_link

This is my 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 0 0 0 0 0 /base_link /base_imu_link 100" />

</launch>

and my test.yaml file:

map_frame: map
odom_frame: odom
base_link_frame: base_link
world_frame: map

two_d_mode: false

frequency: 50

odom0: husky_velocity_controller/odom
odom0_config: [true, true, false,
               false, false, true,
               true, false, false,
               false, false, true,
               false, false, false]
odom0_differential: false
odom0_queue_size: 10

imu0: imu
imu0_config: [false, false, false,
              true, true, true,
              false, false, false,
              true, true, true,
              true, true, true]
imu0_differential: false
imu0_queue_size: 10
imu0_remove_gravitational_acceleration: true

odom1: odometry/gps
odom1_config: [true, true, true, 
                               false, false, false, 
                               false, false, false, 
                               false, false, false,
                               false, false, false]
odom1_differential: false

This is my TF tree.

This is the output of my /imu node:

header: 
  seq: 8942
  stamp: 
    secs: 1489494054
    nsecs: 946403026
  frame_id: base_imu_link
orientation: 
  x: 0.0261382685519
  y: 0.00569945633341
  z: -0.179503324187
  w: 0.983393544681
orientation_covariance: [0.0025, 0.0, 0.0, 0.0, 0.0025, 0.0, 0.0, 0.0, 0.0025]
angular_velocity: 
  x: 0.05 ...
(more)
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Closed for the following reason the question is answered, right answer was accepted by Tom Moore
close date 2017-07-06 05:31:56.000220

Comments

Any tips or suggestions, guys?

Marcus Barnet gravatar imageMarcus Barnet ( 2017-03-21 05:39:12 -0500 )edit

Hello guys, Hello @tom-moore , can't you help me with my problem? I didn't found a solution, yet :(

Marcus Barnet gravatar imageMarcus Barnet ( 2017-04-04 11:51:30 -0500 )edit

Did you solve this?

Tom Moore gravatar imageTom Moore ( 2017-04-11 04:55:12 -0500 )edit

Hello Tom, yes I solved it, it was a problem related to my IMU node. Now it is working, but I'm getting strange results as described in this topic I'll make a video to show you my problem

Marcus Barnet gravatar imageMarcus Barnet ( 2017-04-11 05:14:31 -0500 )edit
1

Is this question still valid, given your others?

Tom Moore gravatar imageTom Moore ( 2017-05-04 02:21:52 -0500 )edit

This question is solved thanks to your help!

Marcus Barnet gravatar imageMarcus Barnet ( 2017-05-04 02:26:58 -0500 )edit

Hello guys, I am still facing this problem. @Marcus, can you tell how you solved it?

kiran gravatar imagekiran ( 2017-05-19 02:26:50 -0500 )edit

It was a problem related to my IMU and GPS frames names.

Marcus Barnet gravatar imageMarcus Barnet ( 2017-05-19 08:09:51 -0500 )edit