is robot-localization in AMCL necessary for laser_scan_matcher + imu?

asked 2022-02-09 13:49:17 -0600

MrOCW gravatar image

updated 2022-02-09 14:14:59 -0600

Hi,

I am using a YDLidar X2L + MPU9250 for localization in AMCL.
I'd like to clarify whether an ekf using robot-localization between the PoseWithCovarianceStamped output of laser_scan_matcher and Imu output of imu_filter_madgwick is necessary if i use laser_scan_matcher with param use_imu = true?

Here is the launch file:

<launch>
  <!-- Arguments -->
  <arg name="model" default="$(find mobile_base_arm)/urdf/mobile_base_arm.urdf"/>
  <param
    name="robot_description"
    textfile="$(find mobile_base_arm)/urdf/mobile_base_arm.urdf" />
  <arg name="map_file" default="$(find navigation)/maps/test_map.yaml"/>
  <arg name="open_rviz" default="true"/>
  <arg name="move_forward_only" default="false"/>

  (launch parameters for lidar)

  (launch parameters for rosserial)

  <node name="imu_filter_madgwick" pkg="imu_filter_madgwick" type="imu_filter_node" output="screen" respawn="false" >
    <param name="world_frame" value="enu" />
    <param name="fixed_frame" value="odom" />
    <param name="use_mag" value="false" />
    <param name="use_magnetic_field_msg" value="false" />
    <param name="publish_tf" value="false" />
    <param name="stateless" value="false" />
  </node>

  <node pkg="laser_scan_matcher" type="laser_scan_matcher_node" name="laser_scan_matcher_node" output="screen">
    <param name="fixed_frame"                               value = "odom"/>
    <param name="base_frame"                                value = "base_link"/>
    <param name="use_odom"                                  value = "false"/>
    <param name="use_imu"                                   value="true"/>
    <param name="do_compute_covariance"                     value="1"/>
    <param name="publish_tf"                                value = "false"/>
    <param name="publish_pose_with_covariance"              value="false"/>
    <param name="publish_pose_with_covariance_stamped"      value="true"/>
  </node>

  <node pkg="robot_localization" type="ekf_localization_node" name="ekf_se" clear_params="true">
    <param name="two_d_mode" value="true"/>
    <param name="odom_frame" value="odom"/>
    <param name="base_link_frame" value="base_link"/>
    <param name="world_frame"  value="odom"/>
    <param name="imu0"  value="imu/data"/>
    <rosparam param="imu0_config">[false, false, false,
                                      true,  true,  true,
                                      false, false, false,
                                      true,  true,  true,
                                      true,  true,  true]</rosparam>
    <param name="imu0_remove_gravitational_acceleration" value="true"/>

    <param name="pose0" value="pose_with_covariance_stamped"/>
    <rosparam param="pose0_config">[true, true, true,
                                    false, false, false,
                                    false, false, false,
                                    false, false, false,
                                    false, false, false]</rosparam>
  </node>

  (launch joint_state_publisher, robot_state_publisher, map_server)

  <!-- AMCL -->
  <include file="$(find navigation)/launch/amcl.launch"/>

  (launch rviz)
</launch>

Using this launch file, my odom frame is rotated from the map by -90 degrees z axis, so when i move my robot forward (x axis), it will move forward in odom's x axis, i.e. it is sliding sideways in the map axis.
When I remove robot-localization and use the odom from laser_scan_matcher, everything works as expected.

OR am i supposed to use laser_scan_matcher to publish odom (publish_tf=true), then use fuse IMU with the odom just from laser_scan_matcher?

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Comments

hi, which driver are you using for the IMU?

sal gravatar image sal  ( 2022-04-17 14:04:43 -0600 )edit