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Possibility of using ROS Robot Localization Iibs?

asked 2019-02-08 04:22:57 -0600

Mus007 gravatar image

is there any possibilities to merge ros robot localization package implementation libs through cmake for my own project to utilize its sensor fusion algorithm?

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How is this different to using the robot_localisation package normally as part of a ROS package? Do you mean you don't want to depend on the libraries?

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2019-02-08 04:51:30 -0600 )edit

i mean i dont want to use ROS dependencies and enviroment, i just want to use the EKF filter and ROS functions on my own IDE by cross compiling it and inlcuding the liberaries in my project to use all of this implementation functionalities, IF it is possible!

Mus007 gravatar imageMus007 ( 2019-02-08 05:06:41 -0600 )edit

You'd be better off getting the source code for the robot_localization package crediting the authors correctly, and taking the EKF functionality you need and using that.

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2019-02-08 05:45:54 -0600 )edit

but is it possible doing it so? As i understand it is quite different concept of how nodes work and how EKF works and than it does sensor fusion, There isnt any explicit information of sensor fusion which i want to do through ekf (IMU+GPS), Any Leads?

Mus007 gravatar imageMus007 ( 2019-02-08 05:54:04 -0600 )edit

Let's take a step back: @Mus007: what is it that you actually want to do? Is this it:

i just want to use the EKF filter [..] in my own IDE by [..] inlcuding the liberaries in my project

So you want to use the sensor fusion part of robot_localization in a non-ROS program?

gvdhoorn gravatar imagegvdhoorn ( 2019-02-08 05:56:12 -0600 )edit

Yes, using EKF..

Mus007 gravatar imageMus007 ( 2019-02-08 06:03:33 -0600 )edit

There are many good tutorials and open source implementations of extended kalman filters that would probably be a better place to start.

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2019-02-08 07:13:17 -0600 )edit

yeah i know but i needed 3 dimensional EKF with imu and gps fusion so i thought i could use them !

@gvdhoorn Yes along with ekf..

Mus007 gravatar imageMus007 ( 2019-02-08 07:18:20 -0600 )edit

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answered 2019-02-08 07:33:17 -0600

If you want to include EKF sensor fusion in your own, non-ROS, project then you really should have a good understanding how Extended Kalman filters work. This library provides all the EKF functionality you need, you'll just need to set it up correctly to work with your inputs and system model.

This is the approach I would recommend.

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Thanks for the link, i will try to figure it out and see if i can implement it for my 3D sensor fusion data.

Mus007 gravatar imageMus007 ( 2019-02-08 07:41:18 -0600 )edit

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Asked: 2019-02-08 04:22:57 -0600

Seen: 45 times

Last updated: Feb 08 '19