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Getting started with robot localization implementation from git.

asked 2019-01-09 10:08:43 -0600

Mus007 gravatar image

Hi, I am new to ROS, i read quite alot of documentation on ROS, I want to use Robot_localzation ros implementation for imu and gps fusion through EKF/UKF. i have already created lunar catkin enviroment and successfully built the target ekf_localization_node. Now i am so stuck with how to go further from this point, how i can physically utilize this implementation for my imu and gps? What should i follow onwards on ubuntu terminal command to see the GUI or any handle through which i can see or utilise this implementation for fusing my sensors. I cant see any tutorials with command step by step for this, Any help would mean alot. Thanks!!

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Hi, could you tell more information. which robot you use? is it using ros? or you are building your own robot? if that is the case, you first need to communicate and get data from sensors, so I would say start by checking ros drivers for your sensors.

mali gravatar image mali  ( 2019-01-09 15:09:48 -0600 )edit

I am only using BNO055 and GPS, now i have also sorted the drivers for my IMU sensor and i want to get started from this point onwards.. i have built the ekf node on ubuntu successfully but now i want to know how i can integrate my sensors and start controlling them through terminal command.

Mus007 gravatar image Mus007  ( 2019-01-10 04:16:27 -0600 )edit

"i have already created lunar catkin enviroment and successfully built the target ekf_localization_node."

did you do any simulation to check that the node is working or you just build it? currently can you communicate to the real sensors? do you have their output on rostopic?

mali gravatar image mali  ( 2019-01-10 08:32:14 -0600 )edit

no i just build it and further i dont know how to do simulations, or if i run the master by roscore how to check these nodes from terminal or how to communicate my sensor with this node, afterwards i can get my output on rostopic, questions arent really clear to me if you could help me with that?

Mus007 gravatar image Mus007  ( 2019-01-10 09:07:27 -0600 )edit

@Tom Moore Please have a look here. I know Robot_localization master node is to be used, i now need to know i have fuse imu and gps with having EKF/UKF, so what will be my publisher and subscriber? how to include IMU drivers into robot_localization files.

Mus007 gravatar image Mus007  ( 2019-01-10 09:53:44 -0600 )edit

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answered 2019-01-29 05:30:08 -0600

Tom Moore gravatar image

The wiki has some documentation on fusing GPS data. Moreover, there are sample launch and configuration files for fusing GPS data.

A word of warning, though: straight GPS/IMU fusion with no velocity data (e.g., from wheel encoders) is not a very well supported use case for r_l. Do you have any sensors that could provide velocity data?

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Asked: 2019-01-09 10:08:43 -0600

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Last updated: Jan 29 '19