EKF Sub-sampling?

asked 2013-08-22 16:07:56 -0500

uuilly
13 ●4 ●4 ●8

updated 2013-08-22 16:12:34 -0500

Hey, I'm publishing odometry at 100 Hz and /robot_pose_ekf/odom only publishes a filtered value for roughly 1 in every four messages I give it.

running: rosservice call /robot_pose_ekf/get_status

gives the following output:

status: Input:

Odometry sensor
- is active
- received 5965 messages
- listens to topic /odom
IMU sensor
- is NOT active
- received 0 messages
- listens to topic
Visual Odometry sensor
- is NOT active
- received 0 messages
- listens to topic

Output:

Robot pose ekf filter
- is active
- sent 1751 messages
- pulishes on topics /robot_pose_ekf/odom and /tf

So it appears that it's receiving my messages successfully. Should I expect 1:1 output? I set the freq to 100 in the ekf .launch file.

I'd be happy to publish a bag file of my odometry if that helps.

Still running fuerte...

Any thoughts would be appreciated,

Cheers,

Willy

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Thanks Chad, Like I said, I set the freq to 100 in the .launch file. As for other sensors, we're going to add visual odometry but I wanted to make sure everything worked first. A Kalman filter should help just the encoder b/c it uses its previous estimate to influence the current estimate. I definitely do not have a base footprint frame. Our system doesn't need one. But I can add one if it makes ekf happier. Would any of these things prevent a 1:1 input to output ratio?

uuilly ( 2013-08-23 04:48:57 -0500 )edit

So I lowered the frequency that I published encoder ticks. Looks like ekf maxes out at about 20 Hz on my hardware.

uuilly ( 2013-08-23 05:56:11 -0500 )edit

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