robot_localization slowly converge to correct position

asked 2022-09-19 15:31:57 -0500

elgarbe gravatar image

Hi, I have a robot with wheel encoders, RTK GPS and an IMU (with magnetometer). I run two EKF instances, the first one fuse encoders (velocity, not position), Yaw and Z axis angular velocity from the IMU. The second one adds the odometry_gps from navsat_transform node The problem I'm facing is that some part of the filter seems to not work properly or at least it's not well tuned. As you can see in the video it's likely the odom->base_link is working faster than map->odom. I uploaded ekf parameters files, bag file and a video showing the problem here. I need some advice on what parameter needs to be tuned to correct this problem.

Thank and best regards

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Please include your full EKF and navsat_transform_node config, as well as one sample sensor message from every sensor input.

Tom Moore gravatar image Tom Moore  ( 2023-03-09 08:49:12 -0500 )edit

@elgarbe did you solve this?

Tom Moore gravatar image Tom Moore  ( 2023-04-21 02:40:32 -0500 )edit