robot_localization and gmapping - how the transform should be done?

asked 2017-08-22 19:54:31 -0600

Ago
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updated 2017-08-22 23:53:19 -0600

We are trying to use robot_localization and gmapping. What we have done so far: we use gmapping to publish the transform between map -> odom. Then we tried to apply gps, imu and odom using ekf from robot_localization. We use navsat_transform and one ekf node to fuse all the data. This node does odom -> base_link transform. This setting does not work very well.

Here: https://roscon.ros.org/2015/presentat... (page 4) there is a picture: localization and navigation

This indicates, that I should fuse gmapping and navsat_transform result in one localization node. Should this be done? How should it be done? Is there an example of it?

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Can you tell us how are you configuring gmapping and robot_localization? Specifically the parameters base_frame and odom_frame in gmapping and the parameter base_link_frame in robot_localization.

Also, have you tried other robot_localization packages? like robot_pose_ekf for example.

juanlu ( 2017-08-23 04:30:02 -0600 )edit

As explained in the presentation video: The upper is a either-or relation. So you fuse either gmapping or amcl or navsat_transform. This is because all these nodes provide an absolute position.

Humpelstilzchen ( 2017-08-23 04:32:43 -0600 )edit

Haven't tried robot_pose_ekf. base frame is base_footprint, odom frame is odom. In robot_localization, base_link_frame is base_footprint. About Humpelstilzchen's comment, how could I use laser and gps together?

Ago ( 2017-08-23 04:47:48 -0600 )edit

I am have the same issue. Any help please.

Deep ( 2017-10-14 22:46:13 -0600 )edit

Hey, Ago and Deep, did you get your setup to work?

Robbe_C ( 2018-04-02 14:22:47 -0600 )edit

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Hello Tom Moore

How would you handle this problem if you had gmapping, imu and GPS? Is it possible to use the gmapping with a gps? or do you have to choose between them?

Robbe_C ( 2018-04-08 03:29:52 -0600 )edit

The problem is that your map frame will constantly be shifting any time gmapping closes a loop, so the navsat_transform_node transform to your world frame will be constantly invalidated. Once you _have_ a map, then you can use GPS data, I suppose, but only _after_ you localize in the map.

Tom Moore ( 2018-04-09 03:50:20 -0600 )edit

Ok, thanks for the reply! If I understand it correctly, it's not a good idea to use gps in combination with gmapping. Is it a better idea to use a combination of gmapping and imu if the laser scanner data is available and use gps in combination with imu if it's not available?

Robbe_C ( 2018-04-09 04:07:21 -0600 )edit

The answer to this is far too long to put in a comment, I'm afraid. Please ask a separate question. Thanks.

Tom Moore ( 2018-04-12 02:32:34 -0600 )edit

Ok, I have posted my question: https://answers.ros.org/question/2884...

Robbe_C ( 2018-04-12 06:16:06 -0600 )edit

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robot_localization and gmapping - how the transform should be done?

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