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Fusing the gps and imu datas, the z coordinate data is drifted.

asked 2020-10-14 06:36:17 -0500

Ke Guo
1 ●3 ●5 ●3

OS and version (e.g. Ubuntu 18.04)
from source
melodic-devel, HEAD, 9277d98
I used the test1.bag to test the pkg performance and the z coordinate data has drifted as the follow pictures. Can anybody explain why? Here this the launch files and the fused data showed in rviz.

The ekf_template.launch file file

The navsat_transform_template.launch file image image description

image description

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answered 2020-10-14 09:01:00 -0500

flag of United States of America

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First of all, don't launch the static transforms twice, only have those in either the EKF or navsat launch file. Second, I think you need to remap the topics that the EKF expects to the ones that the Bag actually publishes. Confirm that you did that.

And without your configurations files, it is really hard to say anything else.

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Oh, I had found the z value in odom0_config params not set to be true.

And how to the static_transform_publisher in the launch file when I have gps(gps) and imu data(imu_link) simultaneously?

pkg="tf2_ros" type="static_transform_publisher" name="bl_imu" args="0 -0.3 0.52 -1.570796327 0 1.570796327 base_link imu_link"

pkg="tf2_ros" type="static_transform_publisher" name="bl_gps" args="0 -0.3 0.52 0.0 0 0.0 base_link gps"

Ke Guo ( 2020-10-14 19:57:27 -0500 )edit

You have those transforms repeated twice in both launch files, you only need it once.

JackB ( 2020-10-14 20:43:40 -0500 )edit

Also consider setting the two_d_mode parameter to true.

JackB ( 2020-10-14 20:44:47 -0500 )edit

0

answered 2020-10-14 07:09:56 -0500

Ke Guo
1 ●3 ●5 ●3

<launch> <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" clear_params="true" launch-prefix="xterm -e gdb -ex run --args"> <rosparam command="load" file="$(find robot_localization)/params/navsat_transform_template.yaml"/> <remap from="gps/fix" to="fix_modify"/> </node> </launch>

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Asked: 2020-10-14 06:36:17 -0500

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Last updated: Oct 14 '20

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