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Robot_localization is not updating movement from relative frame to world frame on RViz

asked 2019-06-28 15:55:18 -0500

RayROS gravatar image

updated 2019-07-03 12:56:45 -0500

Hello, I am trying to set up an Extended Kalman Filter (EKF). I have the following types of sensors mounted on board of the ROV system:

UPDATES WITH SENSORS OUTPUT SAMPLES:

1) IMU - Primarily used for Orientation

Sensor Output Sample:

From: rostopic list echo/

header: 
  seq: 1900
  stamp: 
    secs: 1517940907
    nsecs: 527472019
  frame_id: "base_link"
orientation: 
  x: -0.447962131618
  y: 0.530470375983
  z: -0.480721599498
  w: -0.535572453192
orientation_covariance: [0.010000000000000002, 0.0, 0.0, 0.0, 0.010000000000000002, 0.0, 0.0, 0.0, 0.010000000000000002]
angular_velocity: 
  x: 0.00829399318143
  y: -0.00832041039286
  z: -0.0137973047577
angular_velocity_covariance: [0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1]
linear_acceleration: 
  x: 9.94429087323
  y: -0.333990296188
  z: 0.402224859015
linear_acceleration_covariance: [0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1]
---

2) USBL- Sonar sensor that provides a global position (X,Y)

Sensor Output Sample:

From: rostopic list echo /

header: 
  seq: 19
  stamp: 
    secs: 0
    nsecs:         0
  frame_id: "map"
child_frame_id: "base_link"
pose: 
  pose: 
    position: 
      x: 5.53904389031
      y: 28.6836443911
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0
      w: 0.0
  covariance: [5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist: 
  twist: 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---

3) Depth sensor (Z)

Sensor Output Sample:

From: rostopic list echo /

header: 
  seq: 1963
  stamp: 
    secs: 1517941110
    nsecs: 334011078
  frame_id: "base_link"
fluid_pressure: 54.99332428
variance: 6.93760519813e-310
---

4) Camera odometry velocity (X,Y)

Sensor Output Sample:

From: rostopic list echo /

header: 
  seq: 0
  stamp: 
    secs: 1517941154
    nsecs: 288109779
  frame_id: "camera"
child_frame_id: ''
pose: 
  pose: 
    position: 
      x: 0.0
      y: 0.0
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0
      w: 0.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ...
(more)
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Comments

Please provide a sample message from all sensor inputs.

Tom Moore gravatar imageTom Moore ( 2019-07-03 04:37:12 -0500 )edit

Hello Tom and thanks for taking the time to read the question. I provided a print-screen of all the sensor involved both from rostopic echo / and from rqt_topic I hope that could be helpuf to figure out what the problem might be

RayROS gravatar imageRayROS ( 2019-07-03 11:38:06 -0500 )edit

@RayROS: I'm sorry to have to do this, but I've closed your question as with your latest edit you're violating the support guidelines. Specifically: don't post screenshots of terminals / code / messages.

It's all text, so copy-paste whatever is needed into your question and use the Preformatted Text button (the one with 101010 on it) to format it properly. Use the edit button/link to edit your question.

After you've fixed this, we can re-open.

gvdhoorn gravatar imagegvdhoorn ( 2019-07-03 11:54:33 -0500 )edit

@gvdhoorn, thanks for point that out. I just updated the sensor sample according to the guidelines. It should be correct now and sorry for adding the print-screen I thought it would have been easier to see it form there.

RayROS gravatar imageRayROS ( 2019-07-03 12:59:26 -0500 )edit

1 Answer

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answered 2019-07-05 11:46:30 -0500

RayROS gravatar image

I found the error to this question thanks to @Tom Moore for asking sample message from all sensor inputs and thanks to @gvdhoorn. The fact that I had to reformat the updated output of the sensors made me realize that the error was that the messages of USBL where never read by rosbag. After running rostopic echo / the following is the reason of my urdf for not moving:

header: 
  seq: 19
  stamp: 
    secs: 0
    nsecs:         0
  frame_id: "map"
child_frame_id: "base_link"
pose: 
  pose: 
    position: 
      x: 5.53904389031
      y: 28.6836443911
      z: 0.0
    orientation:

After reading the timestamp everything was fine and the urdf moved properly. I hope this could be useful for many other users! :)

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Asked: 2019-06-28 15:55:18 -0500

Seen: 45 times

Last updated: Jul 05