robot_localization, problem with Roll, Pitch measurements [closed]

asked 2019-06-12 10:26:05 -0500

Mobile_robot gravatar image

Dear all,

I want to configure the package robot_localization (using Xsense IMU), in order that it takes into account the orientation of the robot (roll, pitch and for sure yaw) while rotating.

Unfortunately, I did not find any documentation or example to configure it correctly.

I have achieved to configure it where it takes into account the the rotation on Roll as well as the Z position of the robot with the following configuration file

frequency: 20
two_d_mode: false

# X, Y, Z
# roll, pitch, yaw
# X vel, Y vel, Z vel
# roll vel, pitch vel, yaw vel
# X accel, Y accel, Z accel

#Odometry input config

odom0: /odom
odom0_config: 
[false, false, false,
false, false, false,
true, true, true,
true, true, true,
false, false, true]
odom0_differential: false
odom0_relative: true

# input config
imu0: /imu/data # Xsense
imu0_config: 
[false, false, false,
true,  true,  true,
false, false, false,
true,  true,  true,
true,  false,  true]

mu0_differential: false
imu0_relative: true
imu0_remove_gravitational_acceleration: false
dynamic_process_noise_covariance: true
#Frames config
odom_frame: odom
base_link_frame: base_link
world_frame: odom

But this configuration does not work when I tried to rotate the robot around X axis (pitch)

But, When I tried the following configuration it worked well for the rotation on Pitch and this time was not taking into account the Roll rotation

frequency: 20
two_d_mode: false

# X, Y, Z
# roll, pitch, yaw
# X vel, Y vel, Z vel
# roll vel, pitch vel, yaw vel
# X accel, Y accel, Z accel

#Odometry input config
odom0: /odom
odom0_config: [false, false, false,
false, false, false,
true, true, true,
true, true, true,
false, false, false]
odom0_differential: false
odom0_relative: true


# input config
#imu0: /imu # Razor
imu0: /imu/data # Xsense
imu0_config: [false, false, false,
true,  true,  true,
false, false, false,
true,  true,  true,
true,  false,  false]

imu0_differential: false
imu0_relative: true
imu0_remove_gravitational_acceleration: false


dynamic_process_noise_covariance: true

#Frames config
odom_frame: odom
base_link_frame: base_link
world_frame: odom

The difference between these two is taking into account the acceleration on Z axis (for both IMU and odometry).

Do you know why I get this results?

Thanks in advance,

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Closed for the following reason question is not relevant or outdated by Tom Moore
close date 2019-09-23 04:04:12.178316

Comments

Unfortunately, I did not find any documentation or example to configure it correctly.

Are you referring to your specific combination of sensors? Because robot_localization has quite extensive documentation. For example the Configuring robot_localization page.

gvdhoorn gravatar imagegvdhoorn ( 2019-06-12 12:51:36 -0500 )edit

Thanks for your comment. I do not know how you define "extensive documentation" but unfortunately there is no clear explanation on how to configure robot_localization for a robot which moves in a 3D world not on the website nor in the presentation video.

Mobile_robot gravatar imageMobile_robot ( 2019-06-13 07:39:10 -0500 )edit

That's why I asked whether you were asking for something specific to your setup. It would be good to add that you are looking for a 6D state estimate, and not a regular 2.5D one.

gvdhoorn gravatar imagegvdhoorn ( 2019-06-13 07:42:22 -0500 )edit

I work on a mobile robot (nonholonomic) which is equipped with an IMU (xsense). As you know well, the configuration for a planar movement has been clearly explained and there are many examples on the Internet. But, for some reasons, I want to know the orientation of the robot (the robot can pass side walks for example) and till now I did not achieve to configure the robot_localization correctly.

Mobile_robot gravatar imageMobile_robot ( 2019-06-13 07:48:09 -0500 )edit

Please include sample input messages from all sensor inputs. Also, please include any static transforms you may be using.

Tom Moore gravatar imageTom Moore ( 2019-07-03 04:24:39 -0500 )edit

Also, can you provide more detail beyond "didn't work"? Maybe show some images?

Tom Moore gravatar imageTom Moore ( 2019-07-03 04:27:08 -0500 )edit

Any update on this? If the question is no longer valid, would you mind closing it?

Tom Moore gravatar imageTom Moore ( 2019-08-22 06:29:01 -0500 )edit