/odometry/gps covariance growing a lot!!
hi ,
I am using robot-localization pkg to do navigation based on gps. i have used rtabmap as map provider and 2 instances of robot-localization pkg for providing map>odom, and odom> base-link frames. in https://answers.ros.org/question/3006... , you mentioned about transforms from base_link->imu_link or base_link->gps_link, actually i have also the same output, but in the tf tree they are conneted to each other, not directly but, connected, (the same is also i have about gps_link):
<link name="imu_link" />
<joint name="imu_link_joint" type="fixed">
<origin xyz="$(optenv WARTHOG_IMU_XYZ 0 0 0)" rpy="$(optenv WARTHOG_IMU_RPY 0 0 0)" />
<parent link="chassis_link"/>
<child link="imu_link" />
</joint>
.....................................................................................
<!-- NOVATEL -->
<joint name="novatel_mount_joint" type="fixed">
<parent link="ntr_mount_link" />
<child link="novatel_mount_link" />
<origin xyz="0.25 0 0.035" rpy="0 0 0"/>
</joint>
<link name="novatel_mount_link" />
.................................................................................
rostopic echo -n1 /imu/data
header:
seq: 12696
stamp:
secs: 1645613726
nsecs: 557692322
frame_id: "imu_link"
orientation:
x: 0.00459714395214
y: -0.0217764782368
z: -0.534092651666
w: 0.845132942619
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
x: 0.000574674457312
y: 0.000223496928811
z: -0.000297982245684
angular_velocity_covariance: [1.0966225545416819e-06, 0.0, 0.0, 0.0, 1.0966225545416819e-06, 0.0, 0.0, 0.0, 1.0966225545416819e-06]
linear_acceleration:
x: 0.344765037298
y: 0.337582439184
z: 10.11789608
linear_acceleration_covariance: [0.0015387263847514987, 0.0, 0.0, 0.0, 0.0015387263847514987, 0.0, 0.0, 0.0, 0.0015387263847514987]
........................................................................................................................
rostopic echo -n1 /gps/fix
header:
seq: 959
stamp:
secs: 1645613727
nsecs: 766667170
frame_id: "novatel_mount_link"
status:
status: 1
service: 1
latitude: 52.0708066667
longitude: -0.627808333333
altitude: 165.41
position_covariance: [0.016900000000000002, 0.0, 0.0, 0.0, 0.016900000000000002, 0.0, 0.0, 0.0, 0.27040000000000003]
position_covariance_type: 1
....................................................................................................
EKF_local:
ekf_localization:
frequency: 50
two_d_mode: true
odom0: /warthog_velocity_controller/odom
odom0_config: [true, true, false,
false, false, false,
true, false, false,
false, false, false,
false, false, false]
odom0_differential: false
imu0: /gx5/imu/data
imu0_config: [false, false, false,
false, false, false,
false, false, false,
false, false, true,
true, true, false]
imu0_differential: false
odom_frame: odom
base_link_frame: base_link
world_frame: odom
two_d_mode: true
................................................................................................
ekf_se_map:
frequency: 50
sensor_timeout: 0.1
two_d_mode: true
transform_time_offset: 0.0
transform_timeout: 0.0
print_diagnostics: true
debug: false
map_frame: map
odom_frame: odom
base_link_frame: base_link
world_frame: map
# Wheel odometry:
odom0: /warthog_velocity_controller/odom
odom0_config: [false, false, false,
false, false, false,
true, true, false,
false, false, false,
false, false, false]
odom0_queue_size: 10
odom0_nodelay: true
odom0_differential: true
odom0_relative: false
# -------------------------------------
# GPS odometry:
odom1: /outdoor_waypoint_nav/odometry/gps
odom1_config: [true, true, false,
false, false, false,
false, false, false,
false, false, false,
false, false, false]
odom1_queue_size: 10
odom1_nodelay: true
odom1_differential: false
odom1_relative: false
# -------------------------------------
# Lidar odometry:
# velocity from odometry
odom2: /rtabmap/odom
odom2_config: [false, false, false,
true, true, false,
false, false, false,
true, true, true,
false, false, false]
odom2_queue_size: 10
odom2_nodelay: true
odom2_differential: true #always true
odom2_relative: false
#..................................................
#Localization_Pose
pose0: /rtabmap/localization_pose
pose0_config: [true, false, false,
false, true, true,
false, false, false,
false, false, false,
false, false, false]
pose0_queue_size: 10
pose0_differential ...
i do not know why i cannot attach tf-frame!!
Dear @tom Moore I want to know what is the function of robot-localization pkg, when it enters an environment where there is no GPS (it shows nan for latitude, longitude, altitude). how robot-localization pkg manage this situation? as i test, it shows a very bad result, jumping back and forth for that part of environment
I donot why i cannot attach any image???