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Calculate covariance matrix from x,y,z data of /odom

asked 2013-11-06 02:29:12 -0500

maysamsh gravatar image

I've recorded a bag file from a custom robot (in real world) that does not provide covariane matrix and I want to use /odom to feed an ekf, but covariance matrix is 0. How can I calculate it?

It's a sample of /odom:

pose: 
  pose: 
    position: 
      x: 0.082
      y: 0.507
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: -0.789272088731
      w: 0.614043622188
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist: 
  twist: 
    linear: 
      x: 0.104
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0663225115758
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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which package you are using? Your question may help me in some points. I am also facing same problem. I want to use robot_localization package.

KDROS gravatar image KDROS  ( 2015-01-15 11:55:53 -0500 )edit

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answered 2015-01-15 04:09:28 -0500

you can use diagonal matrix for the covariance. each element in the diagonal entries is your best expectation about the odom variance.

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Anas, its very old question, and the person is not looking here from last june.

KDROS gravatar image KDROS  ( 2015-01-15 11:58:26 -0500 )edit

It is better late than never :)

Anas Alhashimi gravatar image Anas Alhashimi  ( 2015-01-16 03:40:03 -0500 )edit

Hmm.. Impressive.

KDROS gravatar image KDROS  ( 2015-01-16 04:12:20 -0500 )edit

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Asked: 2013-11-06 02:29:12 -0500

Seen: 829 times

Last updated: Jan 15 '15