Humanoid localization won't work with Octomap [closed]

asked 2013-09-25 11:52:07 -0600

Challen gravatar image

Hi, I'm creating a map using the octomap_server package, and I'm trying to using humanoid localization as my localization package. The robot I'm using is the iRobot Create, and I'm using the tf frames published by the turtlebot package as my torso frame (base_link) and odom frame. The package documentation says that it will work for a UAV, so I figure that it will also work for the Create. The localization isn't working. When I move the robot around in the environment I build for it, the published pose topic doesn't really show any consistent pattern with respect to where the robot is in the map. For example, I will move it in the positive x-direction, and the y position will start decreasing. I'm not sure if I'm doing something wrong. Here is the launch file I'm using to start the localization package: <launch>

<node pkg="mapping_3D" type="localize_transforms" name="transforms" />

<node pkg="hokuyo_node" type="hokuyo_node" name="hokuyo_node">
    <param name="frame_id" value="/hokuyo" />
</node>

<node pkg="octomap_server" type="octomap_server_node" name="octomap_server" args="$(find mapping_3D)/data/sept23_2.bt" />

<node pkg="humanoid_localization" type="localization_node" name="localization" >
    <rosparam file="$(find mapping_3D)/config/localization_params.yaml" command="load" />
</node>

</launch> The localize_transform simply broadcasts a transform from the base_link to the laser frame (hokuyo). And here's the yaml param file:

base_frame_id: base_link odom_frame_id: odom global_frame_id: vrpn init_global: true init_from_truepose: false use_raycasting: true initial_pose/x: 0.0 intial_pose/y: 0.0 intial_pose/z: 0.0 intial_pose/roll: 0.0 initial_pose/pitch: 0.0 initial_pose/yaw: 0.0 initial_std/x: 0.005 inital_std/y: .001 initial_std/z: .001 initial_std/roll: .005 initial_std/pitch: .005 initial_std/yaw: .005

Any advice on what might be going wrong here? Thanks, Challen

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2016-08-08 00:24:30.621690