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Can robot_localization package be used on a full NED system?

asked 2019-06-20 13:25:16 -0500

rumman gravatar image

updated 2019-06-20 14:07:05 -0500

My understanding is that the robot_localizationuses NEU (north east up) coordinate frame for everything. It specifically states that IMU should be set up in NEU coordinate system (here)[

I was wondering if my whole system (base_link + sensors) is set up so that they output in NED coordinate system, could I just use the robot_localization package to output NED (north east down) odom frame?

My rationale here is that if everything is in the same right-handed coordinate frame does it matter how the frame itself is oriented.

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Just an observation: I don't know about robot_localization, but please be aware that ROS uses a right handed coord system exclusively. Refer to REP 103.

gvdhoorn gravatar image gvdhoorn  ( 2019-06-20 14:06:16 -0500 )edit

Sorry that was a typo, I meant right-handed cood frame. Thanks for mentioning it

rumman gravatar image rumman  ( 2019-06-20 14:07:23 -0500 )edit

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answered 2019-06-20 18:13:24 -0500

M@t gravatar image

updated 2019-06-20 18:15:05 -0500

Actually, robot_localization expects all IMU data to be in the ENU format, as stated on this documentation page under the heading "Coordinate Frames and Transforming Sensor Data".

To answer your question: No, you could technically have every frame on your robot in NED orientation, but the orientation vector is not going to be reported in the same way as if your robot used the ENU convention.

Orientation, especially concerning IMUs, is something you can get wrong VERY easily. And it is a huge pain to sort out when it does go wrong. Trust me on that. So I highly recommend you stick to the ROS conventions as closely as possible. If your IMU reports orientation in the NED format, you will need to write a small rosnode to dynamically convert and republish the data in the ENU format. Plus, if something does happen and you need to ask the ROS community here for help, it will become much harder for people to help you if you are using a custom orientation system.

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Asked: 2019-06-20 13:25:16 -0500

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Last updated: Jun 20 '19