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Fusing odometry from wheel encoder and VIO

asked 2021-04-29 21:29:08 -0500

Dadaism6 gravatar image

Hi, so I have a simple robot simulation. I use the gazebo diff_drive plugin so it will generate odometry based on the wheel. I also put the camera and imu plugin, and use the VINS-FUSION (, it will also generate an odometry message. Now my tf tree looks like this: image description:

I want to fuse these two odometry messages using the robot_localization package (the ekf node). But since my wheel encoder odometry frame does not connect to the vins-fusion odometry frames, I got the following errors: image description

Any suggestion about how to use robot-localization, or any other pkgs, to fuse these two odometry messages together? Thanks!!

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answered 2021-05-21 14:05:44 -0500

Hello there, I never been in this case, but If they are completely disconnected the tf transform can't link them. Since you already have an odometry frame, you should probably create a link between your drone odom and your world as well.

Both branches should be connected in some way, and being connected to a common 'world' seems logical (note; for your robot it could be odom--> mapx --> world )

hope this help (else, more details)

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answered 2021-05-19 12:50:52 -0500

Hi have you found a solution to this? I am currently facing the same issue as you

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Asked: 2021-04-29 21:29:08 -0500

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Last updated: Apr 29 '21