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Robot localization EKF pose estimation drift during acceleration / deceleration

Hello,

I'm using robot localization's EKF on my robot and I have some issues with it. I'm using ROS kinetic version on Ubuntu 16.04 and I install robot localization pkg from apt-get install.

My inputs to the EKF are IMU (UM7), wheel encoders and fixed position from aruco tags. I'm using Optitrack motion capture system for position reference.

When the robot accelerates I noticed that the ekf estimation tends be behind the reference position and when its decelerates the ekf estimation is ahead of the referenced position. When I compared the odometry and aruco detection to the reference the error seems reasonable and significantly smaller than the ekf estimation error. My guess is that its related to the prediction phase. The bottom line is that the robot is stopping, approximately, 10 cm before its target.

I'm using the following configurations:

``` ekf_se_odom: odom_frame: odom base_link_frame: base_link world_frame: odom

two_d_mode: true

frequency: 40

odom0: velocity_controller/odom odom0_config: [false, false, false, false, false, false, true, true, false, false, false, true, false, false, false] odom0_differential: false odom0_relative: true odom0_queue_size: 1

imu0: imu/data_filtered imu0_config: [false, false, false, false, false, false, false, false, false, false, false, true, false, false, false] imu0_differential: false imu0_queue_size: 1 imu0_remove_gravitational_acceleration: true

debug: false

process_noise_covariance: [1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3]

initial_estimate_covariance: [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0]

ekf_se_map:

frequency: 40

sensor_timeout: 0.1 two_d_mode: true transform_time_offset: 0.0 transform_timeout: 0.0 print_diagnostics: false debug: false

map_frame: map odom_frame: odom base_link_frame: base_link world_frame: map

odom0: velocity_controller/odom odom0_config: [false, false, false, false, false, false, true, true, false, false, false, true, false, false, false] odom0_queue_size: 1 odom0_nodelay: true odom0_differential: false odom0_relative: false

imu0: imu/data_filtered imu0_config: [false, false, false, false, false, false, false, false, false, false, false, true, false, false, false] imu0_differential: false imu0_queue_size: 1 imu0_remove_gravitational_acceleration: true

use_control: false control_config: [true, false, false, false, false, true] acceleration_limits: [0.8, 0.0, 0.0, 0.0, 0.0, 3.0] deceleration_limits: [0.8, 0.0, 0.0, 0.0, 0.0, 3.0]

pose0: /aruco_single/pose pose0_config: [true, true, false, false, false, true, false, false, false, false, false, false, false, false, false] pose0_differential: false pose0_queue_size: 1 pose0_relative: false

pose1: /set_pose/pose pose1_config: [true, true, false, false, false, true, false, false, false, false, false, false, false, false, false] pose1_differential: false pose1_queue_size: 1 pose1_relative: false

smooth_lagged_data: true history_length: 0.2

process_noise_covariance: [1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3]

initial_estimate_covariance: [1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0] ```

Sample msgs: Imu:

``` header: seq: 312 stamp: secs: 1556111895 nsecs: 57998392 frame_id: "base_imu_link" orientation: x: -0.0259826382 y: 0.0006378167 z: -0.8054282149 w: -0.5920617441 orientation_covariance: [0.002741552146694444, 0.0, 0.0, 0.0, 0.002741552146694444, 0.0, 0.0, 0.0, 0.007615422629706791] angular_velocity: x: -0.000720391186613 y: 0.00792870233999 z: -0.0120081267761 angular_velocity_covariance: [1.0966208586777776e-06, 0.0, 0.0, 0.0, 1.0966208586777776e-06, 0.0, 0.0, 0.0, 1.0966208586777776e-06] linear_acceleration: x: -0.558524621056 y: -0.306901720343 z: -9.71105086042 linear_acceleration_covariance: [0.0015387262937311438, 0.0, 0.0, 0.0, 0.0015387262937311438, 0.0, 0.0, 0.0, 0.0015387262937311438]

```

Odom:

``` header: seq: 940 stamp: secs: 1556111896 nsecs: 73360397 frame_id: "odom" child_frame_id: "base_link" pose: pose: position: x: 4.08163286585 y: -0.0399870891138 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0159623096425 w: 0.999872594219 covariance: [0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03] twist: twist: linear: x: -0.00385667669819 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.00110043238333 covariance: [0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03]

```

Aruco:

header: seq: 100 stamp: secs: 1556111891 nsecs: 38134000 frame_id: "map" pose: pose: position: x: 2.42997637311 y: 6.86889425999 z: 0.0712525943425 orientation: x: 0.00531628989327 y: 0.0096704682779 z: 0.701787258129 w: 0.712301104473 covariance: [0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0003]

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None

Robot localization EKF pose estimation drift during acceleration / deceleration

Hello,

I'm using robot localization's EKF on my robot and I have some issues with it. I'm using ROS kinetic version on Ubuntu 16.04 and I install robot localization pkg from apt-get install.

My inputs to the EKF are IMU (UM7), wheel encoders and fixed position from aruco tags. I'm using Optitrack motion capture system for position reference.

When the robot accelerates I noticed that the ekf estimation tends be behind the reference position and when its decelerates the ekf estimation is ahead of the referenced position. When I compared the odometry and aruco detection to the reference the error seems reasonable and significantly smaller than the ekf estimation error. My guess is that its related to the prediction phase. The bottom line is that the robot is stopping, approximately, 10 cm before its target.

I'm using the following configurations:

```

ekf_se_odom:
  odom_frame: odom
  base_link_frame: base_link
  world_frame: odom

odom two_d_mode: true

two_d_mode: true

frequency: 40

frequency: 40

odom0: velocity_controller/odom odom0_config: [false, false, false, false, false, false, true, true, false, false, false, true, false, false, false] odom0_differential: false odom0_relative: true odom0_queue_size: 1

1

imu0: imu/data_filtered imu0_config: [false, false, false, false, false, false, false, false, false, false, false, true, false, false, false] imu0_differential: false imu0_queue_size: 1 imu0_remove_gravitational_acceleration: true

true debug: false

debug: false

process_noise_covariance: [1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3]

0.3]

initial_estimate_covariance: [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0]

1.0] ekf_se_map:

ekf_se_map:

frequency: 40

frequency: 40

sensor_timeout: 0.1 two_d_mode: true transform_time_offset: 0.0 transform_timeout: 0.0 print_diagnostics: false debug: false

false

map_frame: map odom_frame: odom base_link_frame: base_link world_frame: map

map

odom0: velocity_controller/odom odom0_config: [false, false, false, false, false, false, true, true, false, false, false, true, false, false, false] odom0_queue_size: 1 odom0_nodelay: true odom0_differential: false odom0_relative: false

false

imu0: imu/data_filtered imu0_config: [false, false, false, false, false, false, false, false, false, false, false, true, false, false, false] imu0_differential: false imu0_queue_size: 1 imu0_remove_gravitational_acceleration: true

true

use_control: false control_config: [true, false, false, false, false, true] acceleration_limits: [0.8, 0.0, 0.0, 0.0, 0.0, 3.0] deceleration_limits: [0.8, 0.0, 0.0, 0.0, 0.0, 3.0]

3.0]

pose0: /aruco_single/pose pose0_config: [true, true, false, false, false, true, false, false, false, false, false, false, false, false, false] pose0_differential: false pose0_queue_size: 1 pose0_relative: false

false

pose1: /set_pose/pose pose1_config: [true, true, false, false, false, true, false, false, false, false, false, false, false, false, false] pose1_differential: false pose1_queue_size: 1 pose1_relative: false

false

smooth_lagged_data: true history_length: 0.2

0.2

process_noise_covariance: [1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3]

0.3]

initial_estimate_covariance: [1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0] ```

Sample msgs: Imu:

```

header: 
  seq: 312
  stamp: 
    secs: 1556111895
    nsecs:  57998392
  frame_id: "base_imu_link"
orientation: 
  x: -0.0259826382
  y: 0.0006378167
  z: -0.8054282149
  w: -0.5920617441
orientation_covariance: [0.002741552146694444, 0.0, 0.0, 0.0, 0.002741552146694444, 0.0, 0.0, 0.0, 0.007615422629706791]
angular_velocity: 
  x: -0.000720391186613
  y: 0.00792870233999
  z: -0.0120081267761
angular_velocity_covariance: [1.0966208586777776e-06, 0.0, 0.0, 0.0, 1.0966208586777776e-06, 0.0, 0.0, 0.0, 1.0966208586777776e-06]
linear_acceleration: 
  x: -0.558524621056
  y: -0.306901720343
  z: -9.71105086042
linear_acceleration_covariance: [0.0015387262937311438, 0.0, 0.0, 0.0, 0.0015387262937311438, 0.0, 0.0, 0.0, 0.0015387262937311438]

```

0.0015387262937311438]

Odom:

```

header: 
  seq: 940
  stamp: 
    secs: 1556111896
    nsecs:  73360397
  frame_id: "odom"
child_frame_id: "base_link"
pose: 
  pose: 
    position: 
      x: 4.08163286585
      y: -0.0399870891138
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0159623096425
      w: 0.999872594219
  covariance: [0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03]
twist: 
  twist: 
    linear: 
      x: -0.00385667669819
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.00110043238333
  covariance: [0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03]

```

0.03]

Aruco:

 header: 
  seq: 100
  stamp: 
    secs: 1556111891
    nsecs:  38134000
  frame_id: "map"
pose: 
  pose: 
    position: 
      x: 2.42997637311
      y: 6.86889425999
      z: 0.0712525943425
    orientation: 
      x: 0.00531628989327
      y: 0.0096704682779
      z: 0.701787258129
      w: 0.712301104473
  covariance: [0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0003]