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ROS ekf_localization

asked 2019-03-25 08:21:45 -0600

jksllk gravatar image

updated 2019-03-27 15:37:42 -0600

tfoote gravatar image


Is there a way to weitgh/gain on input to the ekf_localization_node more than other?

In my case I have wheel odometry and odmetry from an ArUco marker mounted on my robot which is beeing tracked as an odom_msg.

From what I see the ArUco odometry is more accurate than my wheel odometry, how can I make the ekf use the ArUco more than the other?

Thanks in advance

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are you talking about the ekf_localization_node of the robot_localizationpackage?

mgruhler gravatar image mgruhler  ( 2019-03-25 10:19:15 -0600 )edit

Yes, sorry about that.

jksllk gravatar image jksllk  ( 2019-03-25 10:38:43 -0600 )edit

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answered 2019-03-25 14:45:04 -0600

Yes! The covariance matrix that your sensor includes to the input to robot_localization is used, unlike in the prior robot pose ekf. If you make the covariance values of the sensor you want to trust higher, then that will be effectively weighed more.

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Thank you! I will try it out

jksllk gravatar image jksllk  ( 2019-03-26 01:45:46 -0600 )edit

Please mark this question as answered so that it can be removed from the unanswered questions queue :-)

stevemacenski gravatar image stevemacenski  ( 2019-03-26 14:19:02 -0600 )edit

@jksilk to makre an answer as correct use the checkbox at the left of the answer instead of changing the title. I've done it for you in this case.

tfoote gravatar image tfoote  ( 2019-03-27 15:37:30 -0600 )edit

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Asked: 2019-03-25 08:21:45 -0600

Seen: 1,132 times

Last updated: Mar 27 '19