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2019-04-08 01:06:49 -0600 marked best answer overshoot pose from robot_localization

Hi everyone!

I'd like to seek your support in running robot_localization. here is my current configuration.

ODOM Source: iRobotcreate2 using autonomy_create driver publishing odom->base_link at 50Hz, frame_id = odom child_frame_id = base_link

IMU Source: LPMS USBAL2 using lpms_imu from larics publishing /imu_data topic at 50Hz, frame_id = base_link

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

robot_localization launch

  <param name="frequency" value="50"/>

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

  <param name="odom0" value="/odom"/>
  <param name="imu0" value="/imu_data"/>

  <param name="odom_frame" value="odom"/>
  <param name="base_link_frame" value="base_link"/>
  <param name="world_frame" value="odom"/>
  <param name="two_d_mod" value="true"/>
  <param name="publish_tf" value="false"/>

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

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

  <param name="imu0_remove_gravitational_acceleration" value="false"/>
  <param name="odom0_differential" value="false"/>
  <param name="imu0_differential" value="false"/>

  <rosparam param="process_noise_covariance">[0.03, 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,    0.4, 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,    0.03, 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,    0.025, 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,     0.05, 0,     0,     0,     0,    0,    0,
                                              0,    0,    0,   0,    0,    0,    0,     0,     0,    0.002, 0,     0,     0,    0,    0,
                                              0,    0,    0,   0,    0,    0,    0,     0,     0,    0,     0.002, 0,     0,    0,    0,
                                              0,    0,    0,   0,    0,    0,    0,     0,     0,    0,     0,     0.004, 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,    0.01, 0,
                                              0,    0,    0,   0,    0,    0,    0,     0,     0,    0,     0,     0,     0,    0,    0.01]</rosparam>

  <rosparam param="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,    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 ...
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2017-10-12 21:00:36 -0600 commented question robot_localization nan output when using ODOM x,y in differential mode

Hi, my bagfile is upload here.

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2017-10-10 01:22:45 -0600 edited question robot_localization nan output when using ODOM x,y in differential mode

robot_localization nan output when using ODOM x,y in differential mode Hello Everyone! As I am trying to solve my previ

2017-10-10 01:21:42 -0600 edited question robot_localization nan output when using ODOM x,y in differential mode

robot_localization nan output when using ODOM x,y in differential mode Hello Everyone! As I am trying to solve my previ

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2017-10-10 00:51:57 -0600 asked a question robot_localization nan output when using ODOM x,y in differential mode

robot_localization nan output when using ODOM x,y in differential mode Hello Everyone! As I am trying to solve my previ

2017-10-09 22:23:24 -0600 asked a question overshoot pose from robot_localization

overshoot pose from robot_localization Hi everyone! I'd like to seek your support in running robot_localization. here i

2017-10-09 00:37:34 -0600 edited question autonomy_create driver yaw angle range is [2pi ~ -2pi]?

autonomy_create driver yaw angle range is [2pi ~ -2pi]? Hi all I want to compare my odometry yaw angle and imu yaw angl

2017-10-09 00:36:21 -0600 asked a question autonomy_create driver yaw angle range is [2pi ~ -2pi]?

autonomy_create driver yaw angle range is [2pi ~ -2pi]? Hi all I want to compare my odometry yaw angle and imu yaw angl

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2017-08-07 05:18:25 -0600 marked best answer acceptable % of odometry error of autonomy_create

Hi All,

I am very new into understanding a lot of concepts in ROS, so far I have successfully ran autonomy_create software package and used a simple keyboard_node to drive my create2 robot.

So far this is what I have done. My linear velocity is 0.2 to drive create2 forward in typical square tile carpeted floor. When I subscribe to topic \odom, the initial value is as follows:

 pose: 
x: 0.000963
y: 0
z: 0
orientation:
x: 0
y: 0
z: 0
w: 1

I moved 1m forward and see if I can get 1meter value in my odom pose

 pose: 
x: 1.27661
y: -0.074605
z: 0
orientation:
x: 0
y: 0
z: -0.070646
w: 0.997501

I moved 1m forward again

    pose:  
x: 2.192413 
y: -0.298672 
z: 0
    orientation: 
x: 0 
y: 0 
z: -0.138908 
w: 0.990305

Based on simple calculation, 19cm is around 10% difference in 2m expected and even y position have some change in value.Currently, I got to know that odometry from wheel encoders alone is erroneous in nature that is why more complex processing is needed (EKF etc.,) now, I would like to know if this 10% error in odometry of autonomy_create that is acceptable to be as input in other package like robot_localization, AMCL etc?

I hope I could learn from you guys. Thanks in advance!

2017-08-07 05:09:48 -0600 marked best answer create_autonomy keyboard control

Hi Can create_autonomy can support keyboard input? I'd like to control my create2 using simple keyboard commands like forward, backward, rotate clockwise and rotate counterclockwise.

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2017-08-04 03:21:13 -0600 asked a question robot_localization test bagfiles

robot_localization test bagfiles Hi! Does any one know what is the expected output of 3 bagfiles included in robot_loca

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2017-07-31 02:20:23 -0600 commented question How to improve the reliability of my robot's localization ?

HI @Inounx! may i know what IMU model you are using? thanks

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2017-07-20 20:17:44 -0600 answered a question robot_pose_ekf odom_combined topic is not pusblished everytime

I think I know the reason why I don't have robot_pose_ekf/odom_combined topic output regularly because my tf is wrong. I

2017-07-19 22:26:30 -0600 asked a question robot_pose_ekf odom_combined topic is not pusblished everytime

robot_pose_ekf odom_combined topic is not pusblished everytime Hi All! I am trying to run robot_pose_ekf package with m

2017-07-19 20:19:49 -0600 commented question AMCL with robot_pose_ekf

have you ever run AMCL with robot_pose_ekf successfully?

2017-07-12 04:45:14 -0600 commented question How to extract pose/trajectory data from cartographer?

what do you mean by bearing?

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2017-06-30 01:31:22 -0600 commented question How to extract pose/trajectory data from cartographer?

Hi! can I ask you how you have plotted the ground truth vs the hector_trajectory output? Excuse me if this is unrelated

2017-06-27 21:49:23 -0600 asked a question comparison of odom and robot_pose_ekf

comparison of odom and robot_pose_ekf Hi All In robot_pose_ekf, there is an image that compares the wheel odometry data

2017-06-15 03:16:08 -0600 commented question Laser Filter and Hector Mapping Issue

I am using 360deg as well, now I understand what you mean by sensor range, I was trying to run the hector_mapping on the

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