Robot Localization with Odometry and UM7

edit

Hello all,

I am trying to get localization to work for a custom car like robot.

I am able to publish odom from wheel encoders and imu/data from my UM7 imu sensor.

I would like to fuse together these two data using the robot localization package and then show it with base_link in rviz. Without proper localization of base_link, I will not be able to run the navigation stack properly.

In my current setup, rviz is able to show forward and backward movement with base_link; however, when I manually rotate the um7 imu sensor, it does not reflect within rviz. I can see that the odometry/filtered topic is receiving input from the um7 but how do i visualize this in rviz?

My end goal is to place this um7 on my custom car like robot. I want rviz to display the base_link mimicking its real life counterpart in terms of position/orientation and velocities (moving forward/backward, turing left/right...etc). It is to my understanding that this is what the robot localization package is for, please correct my understanding if i am making a mistake.

Here are two videos describing my problem:

1st video shows the screen recording from my computer. You can see that moving forward and backward is okay, but I do not know how to turn the base_link.

2nd video shows what I am trying to do

Below is the configuration file for the robot_localization package:

frequency: 50
sensor_timeout: 0.1
two_d_mode: true
transform_time_offset: 0.0
transform_timeout: 0.0
print_diagnostics: true
debug: false

debug_out_file: /path/to/debug/file.txt

publish_tf: true

publish_acceleration: false

odom_frame: odom            # Defaults to "odom" if unspecified
base_link_frame: base_link  # Defaults to "base_link" if unspecified
world_frame: odom           # Defaults to the value of odom_frame if unspecified

odom0: /odom

odom0_config: [false,  false,  false,
               false, false, true,
               true, true, false,
               false, false, true,
               false, false, false]

odom0_queue_size: 2

odom0_nodelay: false

odom0_differential: false

odom0_relative: false


odom0_pose_rejection_threshold: 5
odom0_twist_rejection_threshold: 1

imu0: /imu/data
imu0_config: [false, false, false,
              false,  false,  true,
              false, false, false,
              false,  false,  true,
              false,  false,  false]
imu0_nodelay: false
imu0_differential: false
imu0_relative: true
imu0_queue_size: 5
imu0_pose_rejection_threshold: 0.8                 # Note the difference in parameter names
imu0_twist_rejection_threshold: 0.8                #
imu0_linear_acceleration_rejection_threshold: 0.8  #

imu0_remove_gravitational_acceleration: true

use_control: true

stamped_control: false

control_timeout: 0.2

control_config: [true, false, false, false, false, true]

acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4]

deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5]

acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9]

deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0]

process_noise_covariance: [0.05, 0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                           0,    0.05, 0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                           0,    0,    0.06, 0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                           0,    0,    0,    0.03, 0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                           0,    0 ...