The output topic /odometry/filtered fps is not stable.

asked 2020-01-18 21:44:17 -0500

april_zhao425 gravatar image

updated 2020-01-18 21:51:19 -0500

The output topic /odometry/filtered fps is not stable.

The caculation of fps is 1/(stampt1 - stampt0).

The strange thing is that the rostopic hz /odometry/filtered frequency is stable.

average rate: 19.888

min: 0.050s max: 0.050s std dev: 0.00005s window: 477

average rate: 19.888

min: 0.050s max: 0.050s std dev: 0.00005s window: 497

average rate: 19.888

min: 0.050s max: 0.050s std dev: 0.00005s window: 517

average rate: 19.888

min: 0.050s max: 0.050s std dev: 0.00005s window: 537

average rate: 19.888

min: 0.050s max: 0.050s std dev: 0.00005s window: 557

average rate: 19.888

min: 0.050s max: 0.050s std dev: 0.00005s window: 577

average rate: 19.888

min: 0.050s max: 0.050s std dev: 0.00005s window: 597

average rate: 19.888

min: 0.050s max: 0.050s std dev: 0.00005s window: 605

image description x-coordicate is the number of frame. y-coordicate is the fps per frame.


my launch file:

<launch>

<arg name="output_final_position" default="true" />
<arg name="output_location" default="test.txt" />

<param name="/use_sim_time" value="true" />

<node pkg="rosbag" type="play" name="rosbagplay" args="/output.bag --clock -d 5" required="true"/>


<node name="test_ekf_zp" pkg="robot_localization" type="ekf_localization_node" clear_params="true">

  <param name="frequency" value="20"/>
  <param name="sensor_timeout" value="0.05"/>
  <param name="two_d_mode" value="false"/>


  <param name="odom_frame" value="odom"/>
  <param name="base_link_frame" value="base_link"/>
  <param name="world_frame" value="odom"/>

  <param name="transform_time_offset" value="0.0"/>
  <param name="transform_timeout" value="0.0"/>

  <param name="odom0" value="/loop_fusion/odometry_rect"/>
  <param name="imu0" value="/mynteye/imu/data_raw"/>

  <rosparam param="odom0_config">[true, true, true,
                                  true, true, true,
                                  false,  false,  false,
                                  false, false, false,
                                  false, false, false]</rosparam>

  <rosparam param="imu0_config">[false, false, false,
                                 false,  false,  false,
                                 false, false, false,
                                 true,  true,  false,
                                 false,  false,  false]</rosparam>

  <param name="odom0_differential" value="false"/>
  <param name="imu0_differential" value="false"/>

  <param name="odom0_relative" value="false"/>
  <param name="imu0_relative" value="false"/>

  <param name="imu0_remove_gravitational_acceleration" value="true"/>

  <param name="print_diagnostics" value="true"/>

  <param name="odom0_queue_size" value="1"/>
  <param name="imu0_queue_size" value="50"/>

  <param name="debug"           value="false"/>
  <param name="debug_out_file"  value="debug_ekf_localization.txt"/>

  <param name="reset_on_time_jump"           value="true"/>

  <rosparam param="process_noise_covariance">[0.03, 0,    0,   0,    0,    0,    0,     0,     0,    0,     0,     0,     0,    0,    0,
                                              0,    0.03, 0,   0,    0,    0,    0,     0,     0,    0,     0,     0,     0,    0,    0,
                                              0,    0,    0.04, 0,    0,    0,    0,     0,     0,    0,     0,     0,     0,    0,    0,
                                              0,    0,    0,   0.03, 0,    0,    0,     0,     0,    0,     0,     0,     0,    0,    0,
                                              0,    0,    0,   0,    0.03, 0,    0,     0,     0,    0,     0,     0,     0,    0,    0,
                                              0,    0,    0,   0,    0,    0.06, 0,     0,     0,    0,     0,     0,     0,    0,    0,
                                              0,    0,    0,   0 ...
(more)
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