EdCherie's profile - activity

So, I have been configuring around robot_localization package to use GPS and IMU together with visual odometry from rtabmap, but have weird behavior. To begin with, I use Orbbec Astra as source of visual odometry, which is then sent to first and second instances of ekf_localization node, which produces visual odometry+imu as first instance and visual+imu+navsat odometry from second. As well I have navsat_transform node which takes output from second ekf instance, which is odom_gps and gps/imu data. Then i use launch file from rtabmap_ros package called sensor_fusion, where I removed the robot_localization node part, because I want to use configuration described above. First instance works fine, visual odometry also seem to be reasonably stable, however second instance and navsat_transform node output unstable behavior. At the start the position is around ~20cm a drift in x and y and if some small slow movement is done with the base, it starts drifting around to positive and negative directions (sometimes to one, sometimes to both). I tried to do this outside in more open space to give GPS to catch reasonable amount of satellites and the problem still persists. I have read one similar question before, but his problem was that he used wrong output - from first ekf instance. I double checked if I had that and I am sure i use output from second ekf instance. I would really appreciate if anyone had similar problem and managed to overcome it. I post the launch file of both rtab and robot localization ( https://www.dropbox.com/sh/57zaiqweul... ) as well image of drift. Also geared used is: Xsens MTi-G-700, Orbbec Astra.

Robot_localization.launch

<launch>

    <param name="/use_sim_time" value="false"/>



    <node pkg="tf2_ros" type="static_transform_publisher" name="bl_imu" args="0 0 0 0 0 1 base_link imu" />

    <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" output= "screen" clear_params="true">

      <param name="frequency" value="20"/>
      <param name="sensor_timeout" value="0.1"/>

      <param name="two_d_mode" value="true"/>

      <param name="map_frame" value="map"/> 
      <param name="odom_frame" value="odom"/>
      <param name="base_link_frame" value="base_link"/>
      <param name="world_frame" value="odom"/>

      <remap from="/odometry/filtered" to="/odom_ekf"/> 

      <param name="transform_time_offset" value="0.5"/>
      <param name="odom0" value="/vo"/>      
      <param name="imu0" value="/imu/data"/>

      <rosparam param="odom0_config">[true, true,  false,
                                      false, false, false,
                                      true, true, false,
                                      false, false, false,
                                      false, false, false]</rosparam>

      <rosparam param="imu0_config">[false, false, false, 
                                     false, false,  true,
                                     false, false, false, 
                                     false, false, true,
                                     false, false, false]</rosparam>                                    
      <param name="odom0_differential" value="false"/>
      <param name="odom0_relative" value="false"/>
      <param name="imu0_differential" value="false"/>
      <param name="imu0_relative" value="true"/>
      <param name="imu0_remove_gravitational_acceleration" value="true"/>

    </node>

    <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" output= "screen" respawn="true">

      <param name="magnetic_declination_radians" value="0.190240888"/>
      <param name="delay" value="1.0"/>
      <param name="yaw_offset" value="0"/>
      <param name="use_odometry_yaw" value="false" />   
      <param name="zero_altitude" value="true"/>
      <param name="broadcast_utm_transform" value="true"/>
      <param name="wait_for_datum" value="false" /> 
      <param name="publish_filtered_gps" value="true" />  

      <remap from="/imu/data" to="/imu/data" />
      <remap from="/gps/fix" to="/fix" />
      <remap from ...

EDIT I am restructurizing the question because i made some progress but still stuck at one problem.

Hey guys, I am trying to implement Xsens INS device with robot_localization package that i could make robot navigate by GPS coordinates. However, i cannot get any data from navsat_transform node in the robot_localization package. I did find few suggestions what to do but it seems other people are more advanced than me so i got stuck at this point.

    <launch>
<!-- Parameters setting of the node: ekf_localization_node -->
  <node pkg="tf" type="static_transform_publisher" name="imu_tf" args="0 0 0 0 0 0 1 base_link base_imu 20"/>
  <node pkg="tf" type="static_transform_publisher" name="gps_tf" args="0 0 0 0 0 0 1 base_link imu 20"/>
  <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true">
      <param name="output_frame" value="odom"/>
      <param name="frequency" value="20"/>
      <param name="odom_used" value="true"/>
      <param name="imu_used" value="true"/>
      <param name="vo_used" value="false"/>  
      <param name="sensor_timeout" value="0.1"/>  
      <param name="two_d_mode" value="false"/>

      <param name="map_frame"       value="map"/>
      <param name="odom_frame"      value="odom"/>
      <param name="base_link_frame" value="base_link"/>
      <param name="world_frame"     value="odom"/>

      <param name="odom0" value="odom"/>
      <param name="imu0"  value="/imu/data"/> 

      <rosparam param="odom0_config">[true, true, true,
                                      false, false, false, 
                                      false , false, false, 
                                      false, false, false,
                                      false, false, false]</rosparam>

      <rosparam param="imu0_config">[false, false, false, 
                                     true , true , true, 
                                     false, false, false, 
                                     true , true , true ,
                                     true , true , true ]</rosparam>

      <param name="odom0_differential" value="false"/>
      <param name="imu0_differential"  value="false"/>

      <param name="imu0_remove_gravitational_acceleration" value="true"/>

      <param name="odom0_relative" value="false"/>
      <param name="imu0_relative"  value="false"/>

      <param name="print_diagnostics" value="true"/>

       <!-- ======== ADVANCED PARAMETERS ======== -->

      <param name="odom0_queue_size" value="2"/>
      <param name="imu0_queue_size" value="10"/>

      <rosparam param="process_noise_covariance">[0.05, 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, 0.05, 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, 0.06, 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, 0.03, 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, 0.03, 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, 0.06, 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, 0.025, 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 ...

Hey guys,

I have manged to send the velocities from hector exploration controller to start mapping the room. However, i have encountered some issues with it. I attach two links below, first is what kind of movement i experience, and second is the one i am trying to aim to: https://www.youtube.com/watch?v=A0CHc... <--- our robot, trying to map the room while using exploration node from hector_navigation package. https://www.youtube.com/watch?v=A0CHc... <--- video from ros wiki, where the movement of the robot is much more smoother compared to mine. I do understand that my robot uses skidsteering compared to the one that was in robocup where all wheels can turn. However, i don't think it is only because of that, so i was maybe thinking it might be with some parameters i have. Worth noting, robot doesnt have odometry, i only rely on laser scan data. Robot is controlled by arduino. Additional question, when it explores, even though the area is mapped, when looking at rviz, robot keeps running and running. Do i need to stop the movement myself or it does it until completely explores (in my case it seemed it did the same route 2 times at least)? Thanks in advance for the answer. My hector_slam launch file:

<launch>

<param name="/use_sim_time" value="false"/>ros

<node pkg="rviz" type="rviz" name="rviz" 
args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>

<include file="$(find hector_mapping)/launch/mapping_default.launch"/>

<include file="$(find hector_geotiff)/launch/geotiff_mapper.launch">
<arg name="trajectory_source_frame_name" value="scanmatcher_frame"/> 
</include>

</launch>

My hector_mapping launch file:

 <?xml version="1.0"?>

    <launch>
      <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
      <arg name="base_frame" default="base_link"/>
      <arg name="odom_frame" default="base_link"/>
      <arg name="pub_map_odom_transform" default="tr

ue"/>
  <arg name="scan_subscriber_queue_size" default="5"/>
  <arg name="scan_topic" default="scan"/>
  <arg name="map_size" default="3072"/>

  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

        <!-- Frame names -->
        <param name="map_frame" value="map" />


 <param name="base_frame" value="base_link" />
    <param name="odom_frame" value="base_link" />

    <!-- Tf use -->
            <param name="use_tf_scan_transformation" value="true"/>
            <param name="use_tf_pose_start_estimate" value="false"/>
            <param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>

        <!-- Map size / start point -->

    <param name="map_resolution" value="0.025"/>
    <param name="map_size" value="1024"/>

<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="2" />

<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.9" />    
<param name="map_update_distance_thresh" value="0.1"/>
<param name="map_update_angle_thresh" value="0.01" />

<param name="map_pub_period" value="2.0" />
<param name="laser_min_dist" value = "0.1" />
<param name="laser_max_dist" value = "5.0" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />

<!-- Advertising config --> 
<param name="advertise_map_service" value="true"/>

      <param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
        <param name="scan_topic" value="$(arg scan_topic)"/>

        <!-- Debug parameters -->
        <!--
          <param name="output_timing" value="false"/>
          <param name="pub_drawings" value="true"/>
          <param name="pub_debug_output" value="true"/>
        -->
        <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
      </node>

    <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster"      args="0 0 0 0 0 0 /base_link /laser 100" /> 

    </launch>

Then my ... (more)