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How to estimate velocity from robot_pose_ekf

asked 2020-06-02 16:18:44 -0600

Ahmed_Desoky gravatar image

updated 2020-06-02 16:20:42 -0600

I have a differential drive mobile robot. and I am using robot_pose_ekf to estimate the state of the robot [x,y,θ]

How to estimate [v,ω ] the translational and rotational velocities. from robot_pose_ekf output or adding [v,ω ] as an output from robot_pose_ekf [x,y,θ,v,ω] .

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answered 2020-06-02 19:40:55 -0600

The output topic is http://docs.ros.org/api/geometry_msgs... which is not providing velocity, I don't think robot pose EKF allows you to do this. Robot Localization however will allow you to do this.

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Are there any individual package that can estimate [v,ω ] directly from the output of robot_pose_ekf [x,y,θ], robot_pose_ekf/odom_combined (geometry_msgs/PoseWithCovarianceStamped)?

Ahmed_Desoky gravatar image Ahmed_Desoky  ( 2020-06-03 00:08:49 -0600 )edit

Look at replacing robot pose ekf with robot localization.

stevemacenski gravatar image stevemacenski  ( 2020-06-03 01:00:45 -0600 )edit

It sort of makes sense that something called robot_pose_ekf doesn't output velocity, doesn't it?

gvdhoorn gravatar image gvdhoorn  ( 2020-06-03 02:53:52 -0600 )edit

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Asked: 2020-06-02 16:18:44 -0600

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Last updated: Jun 02 '20