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robot_localization package: Test1 gives unexpected results.

asked 2022-07-07 08:38:46 -0600

cognitiveRobot
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Hi there, I am using robot_localization and runing the test1 as follows:

roslaunch robot_localization test_ekf_localization_node_bag1.test

I log two odometry positions:

/husky_velocity_controller/odom

/odometry/filtered When I plot them I find as follows:

Is the '/odometry/filtered' corrected positions? It looks odd to me. What am I missing here?

Thanks in advance.

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answered 2022-07-16 07:43:59 -0600

Mike Scheutzow
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updated 2022-07-16 07:47:19 -0600

We have no way of knowing how accurate either of the paths you show is. You will need someone to provide "ground truth" to figure that out.

odometry is an estimate of the robot's current pose, typically calculated using integration, and it usually becomes less accurate as more data is integrated.

/husky_velocity_controller/odom is probably odom calculated only from the wheel-encoder sensors.

/odometry/filtered is probably the output from the robot_localization kalman filter.

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Asked: 2022-07-07 08:38:46 -0600

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Last updated: Jul 16 '22

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robot_localization package: Test1 gives unexpected results.