robot_localization and navsat_transform_node results

edit

Hi to all, Hi Tom,

I'm using robot_localization and the navsat_transform_node to obtain the 3D position of my mobile robot. I'm using XSens IMU Mti-300 with magnetometer, a SICK laser, Husky A200 and C94-MP8 U-blox GPS with RTK correction.

The node runs fine and I receive no errors, but when I try to run the bag in RVIZ, I see that there are lot of jumps and that even the /odometry/filtered/local (blue arrows) is not accurate even if the robot is moving on a straight line.

In this bag file [16MB], the robot is moving on a straight line and as you can see the path is not accurate.

(The steering maneuver at the end is correct)

I think that the jumps on /odometry/gps (red arrows) and /odometry/filtered/global (green arrows) are caused by the GPS (it is in FIXED mode, but may be sometimes it loses the signal with the base station), but I can't explain why the /odometry/filtered/local is not accurate.

Can you give me some suggestions, please?

it is possible to set a priority on /odometry/filtered/local to obtain more accurate results with the GPS signal is not good?

This is my launch file:

<!-- Test launch file for two EKF instances and one navsat_transform instance -->

<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="rosbag" type="play" name="rosbag_play" output="screen" args="--clock /home/rocco/Desktop/gps/vine.bag -k -d 3"/>      


  <node pkg="tf2_ros" type="static_transform_publisher" name="bl_imu" args="0 0 0 0 0 0 base_link base_imu" />
  <node pkg="tf2_ros" type="static_transform_publisher" name="bl_gps" args="0 0 0.4 0 0 0 base_link gps" /> 
  <node pkg="tf2_ros" type="static_transform_publisher" name="bl_laser" args="0 0 0.4 0 0 0 base_link laser" /> 
  <node pkg="tf2_ros" type="static_transform_publisher"  name="base_to_realsense" args="0 0 0 -1.5707963 0 -1.5707963 base_link realsense_frame" />

    <!-- Local (odom) instance -->
    <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization_local" clear_params="true">
      <param name="frequency" value="10"/>
      <param name="sensor_timeout" value="0.1"/>
      <param name="two_d_mode" value="false"/>

      <param name="map_frame" value="map"/>
      <param name="odom_frame" value="odom"/>
      <param name="base_link_frame" value="base_link"/>
      <param name="world_frame" value="odom"/>

      <param name="transform_time_offset" value="0.0"/>

      <param name="odom0" value="/husky_velocity_controller/odom"/>
      <param name="imu0" value="/imu/data"/>

      <rosparam param="odom0_config">[false, false, false,
                                      false, false, false,
                                      true, true, true,
                                      false, false, true,
                                      false, false, false]</rosparam>

      <rosparam param="imu0_config">[false, false, false,
                                     true,  true,  true,
                                     false, false, false,
                                     true,  true,  true,
                                     true,  true,  true]</rosparam>

      <param name="odom0_differential" value="false"/>
      <param name="imu0_differential" value="false"/>

      <param name="odom0_relative" value="false"/>
      <param name="imu0_relative" value="false"/>

      <param name="imu0_remove_gravitational_acceleration" value="true"/>
      <param name="print_diagnostics" value="true"/>

      <param name="odom0_queue_size" value="10"/>
      <param name="imu0_queue_size" value="10"/>

      <param name="debug"           value="false"/>
      <param name="debug_out_file"  value="debug_ekf_localization.txt"/>

      <remap from="/odometry/filtered" to="/odometry/filtered/local"/>
    </node>

    <!-- Global (map) instance -->
    <node pkg="robot_localization" type="ekf_localization_node ...