How to use robot_localization correctly?

asked 2020-02-14 10:43:22 -0600

tbondar gravatar image

Hi All,

I would like to ask you opinions and best practices of using the robot_localization package for the following use case:

  • The vehicle has two wheels (left and right), more accurately two tracks (a robotic vehicle for agriculture).
  • Eventually I will have to achieve automatic GPS waypoint finding.
  • The wheels have fairly accurate encoders, so I can measure travelled distance and speed of both left and right tracks, calculate and publish Odometry messages from that with at least 10Hz.
  • The vehicle is equipped with a navigational device which provides me GPS latitude, longitude and orientation (roll, pith, yaw) and speed. I can use these data to calculate and publish another Odometry message. Latitude and longitude is updated with 1Hz, orientation is updated with 10Hz.

I'm planning to fuse these two odometry sources with one ekf_localization_node and use its output for the waypoint finding. I'm wondering if this is a viable approach to do this or there would be a better way?

Many thanks, Tamás

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