Ask Your Question
1

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??

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted
1

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.

edit flag offensive delete link more
0

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

rohan gravatar image

@Kevin

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.

edit flag offensive delete link more

Comments

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

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

Stats

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

Seen: 608 times

Last updated: May 22 '12