trying to understan my frames and tf

asked 2018-03-30 12:11:28 -0500

elgarbe gravatar image

I have an ASV driven by a pixhawk, running ardurover, and a raspberry pi 3 as a companion computer. Connected to the PI there is an hokuyo lidar.

I want to use IMU, odom and laser data on google cartographer, but I'm a little confuse about my frames and needed TF.

This is pixhawk IMU topic:

header: 
  seq: 324
  stamp: 
    secs: 1455208218
    nsecs: 779422082
  frame_id: "base_link"
orientation: 
  x: -0.0196528313319
  y: -0.0373457958945
  z: 0.507724505298
  w: -0.860485261041
orientation_covariance: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
angular_velocity: 
  x: 0.000183623924386
  y: -0.000642724335194
  z: -2.97694932669e-05
angular_velocity_covariance: [1.2184696791468346e-07, 0.0, 0.0, 0.0, 1.2184696791468346e-07, 0.0, 0.0, 0.0, 1.2184696791468346e-07]
linear_acceleration: 
  x: -0.65704555
  y: -0.02941995
  z: 10.0223963
linear_acceleration_covariance: [8.999999999999999e-08, 0.0, 0.0, 0.0, 8.999999999999999e-08, 0.0, 0.0, 0.0, 8.999999999999999e-08]
---

as you can see pixhawk is publish IMU under base_link frame.

This is laser data publish by urg_node:

---
header: 
  seq: 532
  stamp: 
    secs: 1455208419
    nsecs: 333519654
  frame_id: "laser"
angle_min: -2.35619449615
angle_max: 2.09234976768
angle_increment: 0.00613592332229
time_increment: 9.76562732831e-05
scan_time: 0.10000000149
range_min: 0.019999999553
range_max: 5.59999990463
ranges: [0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239,

Hokuyo lidar frame is laser. The lidar is mounted rotated 90ª CW from X axis of pixhawk and translated 0.5mts to teh right.

finally odom msg:

header: 
  seq: 1556
  stamp: 
    secs: 1455208296
    nsecs: 310980854
  frame_id: "map"
child_frame_id: "base_link"
pose: 
  pose: 
    position: 
      x: -0.005535364151
      y: -0.267928063869
      z: 0.0810627788305
    orientation: 
      x: -0.0192797667306
      y: -0.0368807024663
      z: 0.50707105612
      w: -0.860898976899
  covariance: [1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06]
twist: 
  twist: 
    linear: 
      x: -0.00152582221037
      y: -0.0375590241358
      z: -0.00955859516847
    angular: 
      x: -7.68475001678e-06
      y: -0.000235044397414
      z: 0.00026510679163
  covariance: [0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0 ...
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Comments

Can you please explain what an ASV is? It's hard to keep track of every acronym out there (also they may mean different things to different people).

jayess gravatar imagejayess ( 2018-03-30 13:40:12 -0500 )edit

it's an autonomous boat, thank

elgarbe gravatar imageelgarbe ( 2018-03-30 13:42:35 -0500 )edit