robot_localization estimate 'shoots' off on startup.

asked 2019-10-23 01:29:10 -0600

PG_GrantDare gravatar image

Hi,

I am fusing imu and encoder data to localize using an ekf. When I first run the state estimation node (on a bag) the estimate 'shoots' off and ends up in the x=1E1000; y = 5E100. After this initial _jump_, the estimate resembles my motion rather well but obviously, being x=2000; y=500 localized from the start isn't ideal. I'm using a very similar launch file to the one by Nick Charron here.

It's weird that after the initial jump, there is no instability?

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Comments

"very similar" is unhelpful. Please fully describe all sensors, locations, and configurations. Include sample messages + the RL config file.

stevemacenski gravatar imagestevemacenski ( 2019-10-23 11:59:15 -0600 )edit