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viso2_ros and robot_pose_ekf

asked 2012-05-18 08:44:39 -0500

rohan gravatar image

updated 2012-05-18 15:01:50 -0500

Kevin gravatar image

Hey guys,

Is there any way to get the visual odometry from the viso2_ros package to the robot_pose_ekf. From what I have had a look , the robot_pose_ekf requires data on the /vo topic. Is the data coming out of visi2_ros can be published on the /vo and fed into the robot_pose_ekf??

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answered 2012-05-18 15:01:27 -0500

Kevin gravatar image

yes, just hook up the viso2_ros/odometry to the robot_pose_ekf/vo since they are both nav_msgs/Odometry messages.

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answered 2012-05-22 10:32:19 -0500

rohan gravatar image


I did that and got the viso2_ros output on the /vo topic. Thanks to you.

When I launch the minimal.launch file and then run the mono_odometer I get the following error-:

Could not transform imu message from IMU to base_footprint. Imu will not be activated yet.

The rxconsole shows that the imu is deactivated and it tries to activate but can't .

If I kill the /vo topic everything works fine.

Sometimes (just once) I got this error Filter time older than vo message buffer.

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What IMU are you using? Are you sure it is transmitting data? Try "rostopic echo <imu_message>" and see if it is sending something.

Kevin gravatar image Kevin  ( 2012-05-22 12:20:55 -0500 )edit

I did that. The data is being published on the /imu/data and /imu/raw. As I move the gyro the data on these topics changes. So the imu is working fine but as soon as viso2_ros get swtiched on I get the errors. So I again echo the topic and see the data on the /imu topics.

rohan gravatar image rohan  ( 2012-05-23 01:59:08 -0500 )edit

I changed the base_link_frame_id (string, default: /base_link) to base_footprint and it solved the problem. Ad the /odom topic child_frame_id is base_footprint so I thought the mono_odometry id should also be the same. Let me know if there is something wrong in that?

rohan gravatar image rohan  ( 2012-05-23 04:59:43 -0500 )edit

@Kevin I will try it with gmapping and let you know the result

rohan gravatar image rohan  ( 2012-05-23 05:00:12 -0500 )edit

@Kevin I tried using it with gmapping and for some reason the gmapping now register scans every second and after every 5 scans the scan matching fails. All these things I get when the robot is stationary. Strange!!!

rohan gravatar image rohan  ( 2012-06-03 07:42:12 -0500 )edit

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Asked: 2012-05-18 08:44:39 -0500

Seen: 608 times

Last updated: May 22 '12