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Robot_pose_ekf with wheelodometry and IMU

asked 2013-01-13 14:05:01 -0500

Astronaut gravatar image

Hello

I would like to use the robot_pose_ekf package fusing the IMU sensor data and the odometry coming from encoders. Is there any documentation or tutorials of settings launch parameters and some nodes examples. Some code examples ?Any helps would be good.

Thanks

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answered 2013-01-13 14:46:50 -0500

isura gravatar image

The following link has an example launch file configuration:

www.ros.org/wiki/robot_pose_ekf

The navigation tutorials are a great place to start:

www.ros.org/wiki/navigation/Tutorials

This tutorial describes how to publish odometry information:

www.ros.org/wiki/navigation/Tutorials/RobotSetup/Odom

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isura gravatar image isura  ( 2013-01-14 18:09:14 -0500 )edit

But why I need to publish the odometry?? I need to subscribe to odom (nav_msgs/Odometry) . Thats the robot_pose_ekf subscribed topic.

Astronaut gravatar image Astronaut  ( 2013-01-15 13:22:32 -0500 )edit

If you have odometry information being published by your robot as a nav_msgs::Odometry, then you do not have to publish it.The robot_pose_ekf node reads odometry messages published as "odom" topic.

isura gravatar image isura  ( 2013-01-15 17:00:23 -0500 )edit

Yes. I already have odometry information published by my robot as nav_msgs::Odometry,

Astronaut gravatar image Astronaut  ( 2013-01-15 17:11:57 -0500 )edit

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Asked: 2013-01-13 14:05:01 -0500

Seen: 1,620 times

Last updated: Jan 13 '13