How to mask inputs into robot_pose_ekf?

asked 2018-02-24 23:43:37 -0600

Cerin gravatar image

I'm trying to merge wheel odometry with IMU input using robot_pose_ekf. How do I tell it to ignore the wheel odometry's yaw value? My IMU has a compass, so it's yaw will always be relative to true north, whereas the wheel odometry's yaw will either be 0 or arbitrary value depending on the orientation when the robot was activated. Reading the docs, I can't find any way to disable this, so by default, the EKF will attempt to average them...resulting in a worthless value. Am I missing something?

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I don't think robot_pose_ekf can do that. But robot localization can. As a workaround you could give a high value, e.g. 10000 as covariance to robot_pose_ekf for your yaw value.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2018-02-26 01:18:14 -0600 )edit