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ROS ekf_localization

asked 2019-03-25 08:21:45 -0500

jksllk
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updated 2019-03-27 15:37:42 -0500

tfoote

58457 ●128 ●550 ●526 http://www.ros.org/

Hi,

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 ( 2019-03-25 10:19:15 -0500 )edit

Yes, sorry about that.

jksllk ( 2019-03-25 10:38:43 -0500 )edit

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1 Answer

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answered 2019-03-25 14:45:04 -0500

stevemacenski

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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.