robot_localization and bag file output

edit

After not be able to use the package correctly (I need to understand EKF), I found the test files for robot_localization :

• test1.bag
• test2.bag
• test3.bag

You have 2 way of launching these files (both require you to clone and compile the package on github, these file are not present with apt-get):

Quick method :

Launch these file like a normal .launch file :

roslaunch < your robot_localization package path >/test/test_ekf_localization_node_bag1.test

Then subscribe to the /odometry/filtered topic and look at the last message, the position should be nearby equal to the position defined at the end of the file. Example for bag1 :

      <param name="final_x" value="-40.0454"/>
      <param name="final_y" value="-76.9988"/>
      <param name="final_z" value="-2.6974"/>
      <param name="tolerance" value="1.0452"/>

I recorded the 3 results for EKF in bag files :

• test1_result.bag
• test2_result.bag
• test3_result.bag

With rostest

Robot_localization come with a script to test the 2 nodes (ekf and ukf) with the 3 bag files.

But this is for the default parameters, if you want to test your own parameters, change them at the begining of the *.test files and run the stats recorder. If the output fail, you are probably doing something wrong.

To run the stats recorder, go to robot_localization/test/ and run ./record_all_stats.sh <output_path> (don't forget the output_path) , it will output :

< output_path >/ekf(1,2,3).txt

and :

< output_path >/ukf(1,2,3).txt.

It will run 30 times each node for each bag file (so it will take a very long time...) and try to ouput statistic based on your parameters (try only. If you look at the script, it seem to run the tests 30 times only)

Have fun !