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Robot_localization: odometry/gps no output info

asked 2019-12-27 03:56:42 -0600

sergiootero gravatar image

Hi, I am working with robot localization in ubuntu 16.04. I am using bags files with IMU and two GPS. However the IMU data don't give me info about the orientation, so I use mine /get_orientation node to obtain the orientation with the two GPS, getting the robot orientation.

The ekf outputs are working, i am not sure if fine but at least is giving some output. However the problem is the navsat_transform_node wich its output is all zero. So I am not sure where is the problem in that node.

I add the files:

fix_back(gps):

 header:    
   seq: 2733   
   stamp: 
        secs: 1455210306
        nsecs: 652417898   
   frame_id: "gps" 
status:    
   status: 1   
   service: 1 
latitude: 42.1819562283 
longitude: -8.73968366 
altitude: 384.671 
position_covariance: [1000000000000.0, 0.0, 0.0, 0.0, 1000000000000.0, 0.0, 0.0, 0.0, 16000000000000.0]
position_covariance_type: 0

/imu/data:

header: 
  seq: 145690
  stamp: 
    secs: 1455210324
    nsecs: 134030103
  frame_id: "base_imu"
orientation: 
  x: 0.0
  y: 0.0
  z: 0.0
  w: 0.0
orientation_covariance: [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0]
angular_velocity: 
  x: -0.0156264220278
  y: 0.0181547511189
  z: 0.0154273617187
angular_velocity_covariance: [0.0004, 0.0, 0.0, 0.0, 0.0004, 0.0, 0.0, 0.0, 0.0004]
linear_acceleration: 
  x: 0.0415387526155
  y: -0.0178170949221
  z: 0.0885146409273
linear_acceleration_covariance: [0.0004, 0.0, 0.0, 0.0, 0.0004, 0.0, 0.0, 0.0, 0.0004]

/get/orientation(topic with orientation wich is subscribed navsat node):

header: 
  seq: 1644
  stamp: 
    secs: 1455210302
    nsecs: 894764900
  frame_id: "base_imu"
orientation: 
  x: 0.0
  y: 0.0
  z: 0.778295047494
  w: 0.627898733114
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity: 
  x: 0.0
  y: 0.0
  z: 0.0
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration: 
  x: 0.0
  y: 0.0
  z: 0.0
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

/odometry/gps: I think that maybe the problem is in de frame id

header: 
  seq: 2691
  stamp: 
    secs: 1455210292
    nsecs: 652157068
  frame_id: "odom"
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: 1.0
  covariance: [1000000000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 16000000000000.0, 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 ...
(more)
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Comments

Where are you telling navsat_transform_node to listen to your new orientation topic? I don't see a remap.

Tom Moore gravatar imageTom Moore ( 2020-01-06 04:50:25 -0600 )edit

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answered 2020-01-13 07:56:50 -0600

sergiootero gravatar image

Hi Tom, I think i found the problem and it was that I had to change a frame_id I wasn´t see. Thank you for your response, I'll continue trying

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Asked: 2019-12-27 03:56:42 -0600

Seen: 31 times

Last updated: Dec 27 '19