Orientation from ROBOT_POSE_EKF [closed]

asked 2012-10-07 19:47:32 -0600

sai gravatar image

updated 2013-03-14 23:11:26 -0600

FUERTE and ubuntu 12.04

Hi,

I am trying to use robot_pose_ekf package to combine the orientation data from the wheel odometry of pioneer base and IMU data to get a better EKF estimate of orientation.

The plot can be found at [IMAGE.PNG] (https://dl.dropbox.com/u/95042389/image.png)

Orientation topics plotted-

IMU /imu/data/orientation/z

Wheel odometry /pose/pose/pose/orientation/z

EKF /robot_pose_ekf/odom_combined/pose/pose/orientation/z

In the plot, I have rotated the robot twice for 360 degree. The y-axis of the plot should be multiplied by 0.5pi for your understanding. The plot of robot_pose_ekf package is not convincing as it would follow /imu/data for some time and then gives abnormal results(X-axis b/w 50 and 100, near 150) and again follows IMU data . Generally IMU gives better results than the wheel odometry data.

Can you please tell me what can be done

Thanks,

Sai Manoj

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-10-16 13:19:16.577322

Comments

What kind of covariance do you have in both the wheel odometry and imu?

fmarques gravatar imagefmarques ( 2013-03-15 00:34:28 -0600 )edit