mpu6050+gmapping
Hi, I am trying to do gmapping using motors, encoders and MPU 6050 (I am using this library https://github.com/fsteinhardt/mpu6050_serial_to_imu), to fusion the values i am using robot localization package. When I used only encoders values the map is good. By using IMU the map overlapping Any idea how to fix this problem? C:\fakepath\IMG٢٠٢٠٠٣٢٠١٠٥٣٠١.jpg
The ekf_template. Yaml:
frequency: 50
sensor_timeout: 0.1
two_d_mode: false
transform_time_offset: 0.0
transform_timeout: 0.0
print_diagnostics: true
debug: false
debug_out_file: /path/to/debug/file.txt
publish_tf: true
publish_acceleration: false
#map_frame: map # Defaults to "map" if unspecified
odom_frame: odom # Defaults to "odom" if unspecified
base_link_frame: base_link # Defaults to "base_link" if unspecified
world_frame: odom # Defaults to the value of odom_frame if unspecified
odom0: /odom
#x , y , z,
#roll , pitch , yaw,
#vx , vy , vz,
#vroll , vpitch, vyaw,
#ax , ay , az
odom0_config: [true, true, true,
false, false, false,
true, true, true,
true, true, true,
false, false, false]
odom0_queue_size: 2
odom0_nodelay: false
odom0_differential: false
odom0_relative: false
odom0_pose_rejection_threshold: 5
odom0_twist_rejection_threshold: 1
#x , y , z,
#roll , pitch , yaw,
#vx , vy , vz,
#vroll , vpitch, vyaw,
#ax , ay , az
imu0: /imu/data
imu0_config: [false, false, false,
false, false, false,
false, false, false,
false, false, true,
false, false, false]
imu0_nodelay: false
imu0_differential: false
imu0_relative: true
imu0_queue_size: 5
imu0_pose_rejection_threshold: 0.8 # Note the difference in parameter names
imu0_twist_rejection_threshold: 0.8 #
imu0_linear_acceleration_rejection_threshold: 0.8 #
imu0_remove_gravitational_acceleration: true
use_control: true
stamped_control: false
control_timeout: 0.2
control_config: [true, false, false, false, false, true]
acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4]
deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5]
acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9]
deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0]
process_noise_covariance: [0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0.05, 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, 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, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0.025, 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, 0.01, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015]
initial_estimate_covariance: [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9]
Asked by dandolain on 2020-03-19 08:16:23 UTC
Comments
It'll be helpful if you can share the config file, also an image explaining the issue you're facing.
Asked by parzival on 2020-03-19 08:21:15 UTC
Try changing your config files. As per the documentation
Asked by parzival on 2020-03-20 08:31:33 UTC
Consider test "imu0_differential: true". I only get success after setting it to true.
Asked by dpetrini on 2020-03-26 06:29:00 UTC
I tried that but i didn't work.
Asked by dandolain on 2020-03-26 08:39:37 UTC
@dandolain did you try what I suggested?
Asked by parzival on 2020-03-26 08:43:38 UTC
@parzival, the enocders give me the orientation and the angular speed
Asked by dandolain on 2020-03-26 09:02:10 UTC
@dandolain as I said earlier, select linear velocity and orientation from your odometry messages.
Asked by parzival on 2020-03-26 09:13:57 UTC
@parzival, so what's the benefit from the imu if i will use the encider values only?
Asked by dandolain on 2020-03-26 09:42:37 UTC
@dandolain you "fuse" data from IMU. That's the benefit. The final value will be lesser than errors from individual sources. I highly recommend you read the entire documentation before proceeding ahead.
Asked by parzival on 2020-03-26 09:46:00 UTC
Please include a sample sensor message from every sensor input.
Asked by Tom Moore on 2020-05-05 02:52:07 UTC