robot_localization estimate 'shoots' off on startup. [closed]

asked 2019-10-23 01:29:10 -0500

PG_GrantDare gravatar image


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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Closed for the following reason question is not relevant or outdated by Tom Moore
close date 2022-03-17 06:09:59.005724


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

stevemacenski gravatar image stevemacenski  ( 2019-10-23 11:59:15 -0500 )edit

Yeah, full config, and sample input messages would be great. This sounds a lot like a rogue sensor message that is going through at startup.

Tom Moore gravatar image Tom Moore  ( 2020-01-06 04:03:10 -0500 )edit