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Integrate UM7 IMU and Adafruit GPS with robot_localization

asked 2017-04-03 14:57:47 -0500

Razek gravatar image

updated 2017-04-11 13:53:20 -0500

I'm trying to estimate the position of a robot using the robot_localization ROS package. Currently I use a UM7 Orientation Sensor wich has their own ROS package (um7_driver) and a Adafruit Ultimate GPS Breakout version 3. To read the GPS data I use the nmea_serial_driver. I read a lot of answers in this page and documents as REP-103 and REP-105, but I'm still not able to configure correctly the nodes and topics to obtain an output in /odometry/filtered or /odometry/gps topics.

I'm usign the navsat_transform_node to convert the GPS raw data (fix) to a odometry/gps message. This odometry/gps message is an input for the ekf_localization_node. In addition the odometry message (output) of the ekf_localization_node is an input for the navsat_transform_node in a circular path as were described in: How to fuse IMU & GPS using robot_localization

I think that my IMU configuration is ENU compliant. My launchers files are described below with samples of gps/fix and imu/data messages, unfortunately I can't upload an imageof my rqt_graph. Any comments and suggestions will be appreciated!!!

IMU Message Sample:

---
header: 
  seq: 352
  stamp: 
    secs: 1491248090
    nsecs: 477437036
  frame_id: imu
orientation: 
  x: 0.0580077504
  y: 0.0024169896
  z: 0.9721333587
  w: -0.2270291759
orientation_covariance: [0.002741552146694444, 0.0, 0.0, 0.0, 0.002741552146694444, 0.0, 0.0, 0.0, 0.007615422629706791]
angular_velocity: 
  x: 8.9495899038e-05
  y: -0.000212560517745
  z: 0.000418925544915
angular_velocity_covariance: [1.0966208586777776e-06, 0.0, 0.0, 0.0, 1.0966208586777776e-06, 0.0, 0.0, 0.0, 1.0966208586777776e-06]
linear_acceleration: 
  x: -4.19586237482
  y: 1.07622469897
  z: 8.44690478507
linear_acceleration_covariance: [0.0015387262937311438, 0.0, 0.0, 0.0, 0.0015387262937311438, 0.0, 0.0, 0.0, 0.0015387262937311438]
---

GPS Message Sample:

---
header: 
  seq: 54
  stamp: 
    secs: 1491248749
    nsecs: 594259977
  frame_id: /gps
status: 
  status: 0
  service: 1
latitude: -33.0408566667
longitude: -71.6299133333
altitude: 132.4
position_covariance: [3.9204, 0.0, 0.0, 0.0, 3.9204, 0.0, 0.0, 0.0, 15.6816]
position_covariance_type: 1
---

EDIT1: Sorry but I forgot add my launch (configuration) files.

This is my IMU_GPS.lauch

<launch>
<!--________________________ IMU ____________________________ -->
    <node pkg="um7" type="um7_driver" name="um7_driver" respawn="true" output="screen">
        <param name="port" value="/dev/ttyUSB0"/>
        <param name="frame_id" type="string" value="imu"/>
        <param name="baud" type="int" value="115200"/>
        <param name="mag_updates" type="bool" value="true"/>
    </node>

<!--________________________ GPS ____________________________ -->
    <node pkg="nmea_navsat_driver" type="nmea_serial_driver" name="nmea_serial_driver" respawn="true" output="screen"> 
        <param name="port" value="/dev/ttyUSB1"/>
        <param name="baud" value="9600"/>         
    </node>
</launch>

And this is my EKF.launch

<launch>

    <!--________________________ base_link -> IMU ____________________________ -->
    <!--<node pkg="tf" type="static_transform_publisher" name="imu" args="0 0 0 0 0 0 1 base_link imu 20" />-->
    <node pkg="tf" type="static_transform_publisher" name="bl_gps" args="0 0 0 0 0 0 1 base_link /gps" />
    <node pkg="tf" type="static_transform_publisher" name="bl_imu" args="0 0 0 0 0 0 1 base_link imu" />



    <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true">
      <param name="frequency" value="10"/>
      <param name="sensor_timeout" value="0 ...
(more)
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Comments

Great first question! I've upvoted, and you should now have enough karma to post your rqt_graph.

lindzey gravatar imagelindzey ( 2017-04-05 04:35:30 -0500 )edit

Thank you for adding sample messages. Can you also provide your configuration file(s) for the EKF(s) and navsat_transform_node?

Tom Moore gravatar imageTom Moore ( 2017-04-11 04:30:06 -0500 )edit

Hi Tom, I just edited the question with the data that you required me. Sorry I forgot upload the data in the initial post. Thanks for your time.

Razek gravatar imageRazek ( 2017-04-11 13:56:32 -0500 )edit

1 Answer

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answered 2017-07-06 05:45:10 -0500

Tom Moore gravatar image

Sorry, dropped the ball on this question. I see a couple things:

  1. The most glaring issue is that your only nav_msgs/Odometry input starts with odom1. Per the wiki, for each input message type, you have to start the index at 0. In other words, change odom1 to odom0 everywhere in your configuration. As it is now, the EKF is ignoring that input.

  2. Not critical, but you have your IMU configured to provide X and Y position data (first two true values in odom1_config). Those will be ignored, since we only take in orientation, angular velocity, and linear acceleration from IMUs.

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Asked: 2017-04-03 14:57:47 -0500

Seen: 584 times

Last updated: Jul 06 '17