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2022-09-15 00:45:45 -0500 marked best answer robot_localization and angular velocity for better odometry

Dear all, If I input angular velocity and odometry pose data into robot_localization, can we improve odometry pose estimation due to angular velocity fusion from IMU?

Based on my understanding of robot_localization's code, it will not improve odometry pose estimation. Am I right? The reason of my assumption is that I cannot find correction of pose estimation based on angular velocity fusion in robot_localization's code. If we want to improve odometry pose estimation, we must input orientation information IMU. Am I right?

Assuming that we can improve odometry pose estimation based on orientation information, does anyone know the minimum accuracy of orientation of IMU to see the meaningful improvement? For example, if my IMU orientation has accuracy of 10 or 20 degrees, is it acceptable to achieve better odometry pose estimation?

Thanks in advance for your reading and answer.

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2019-05-20 02:26:10 -0500 marked best answer IMU convention for robot_localization

Hi all, I am trying to use one IMU in robot_localization. I am confusing with IMU convention.The symbol in my IMU is as shown in the following figure.

image description

Can I assume that IMU is in ENU format if I make the IMU X direction as the forward direction of the robot?

If my robot is stationary in the flat surface, what should be my linear acceleration value in z direction ? -9.8 or +9.8?

Best Regards Min Latt

2019-05-20 02:20:05 -0500 marked best answer robot_localization IMU TF

Dear all, If I use robot_localization with 9 Degrees of Freedom - Razor IMU, do I need to provide TF between base link and imu link? Is TF between base_link and imu_link important for robot_localization internal processing?

Since this IMU uses three different chips for an accelerometer, gyroscope and magnetometer, which sensor's location will determine the TF value?

Based on this Q &A, we may need to mount IMU to be aligned with base_link. In that case, how should I align this IMU due to three separate chips locations in the PCB?

2019-03-28 07:23:45 -0500 marked best answer amcl and odometry

Hi all, Based on amcl wiki, odometry data is used in amcl algorithm as follow:

initialpose (geometry_msgs/PoseWithCovarianceStamped) Mean and covariance with which to (re-)initialize the particle filter.

It is used for "initialize the particle filter". When does amcl initialize the particle filter? Upon program startup only?Could anyone guide me the location of the source code ? It is used for "re-initialize the particle filter" When does amcl re-initialize the particle filter? Could anyone guide me the location of the source code ?

Based on above descriptions, can I assume that odometry data is not required for amcl algorithm processing? If I set the initial pose to some known position in the map, do I still need odometry data for amcl algorithm processing?

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2018-08-13 23:29:21 -0500 marked best answer robot_localization and IMU selection

Dear all, I am thinking to buy IMU to be used with robot_localization package. I understand that IMU must be in ENU mode. May I know which IMU support ENU mode and output reliable orientation information? Is microstrain 3DM-GX5-25 a good choice? But it is in NED. Can we use it as ENU via some kind of static transform? http://www.microstrain.com/inertial/3...

Best Regards Min Latt

2018-08-08 01:34:15 -0500 marked best answer AMCL and other sensor data

I am interested in using AMCL with other sensor data if possible. Does anybody know what kind of other sensor data can be used with AMCL for self-localization other than LIDAR and odometer?

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2017-12-10 22:28:23 -0500 asked a question hector_mapping and base_frame parameter setting

hector_mapping and base_frame parameter setting Hi all, In my robot, I have base_link and base_footprint. Whe

2017-12-07 02:26:03 -0500 edited question mrpt_icp_slam_2d

mrpt_icp_slam_2d Does anyone successfully execute the mrpt_icp_slam_2d and generate the map file ( *.simplemap) from thi

2017-12-07 02:25:28 -0500 asked a question mrpt_icp_slam_2d

mrpt_icp_slam_2d Does anyone successfully execute the mrpt_icp_slam_2d and generate the map file ( *.simplemap) from thi

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2017-11-09 20:03:18 -0500 edited question Hector_localization working sample

Hector_localization working sample Dear all, Does anyone have hector_localization working sample with only IMU

2017-11-09 20:02:59 -0500 asked a question Hector_localization working sample

Hector_localization working sample Dear all, Does anyone have hector_localization working sample with only

2017-11-09 20:00:55 -0500 commented answer robot_localization NaN output

Hi Ed Venator, Thanks a lot for your answer. I changed the variances and it works.

2017-11-09 19:59:58 -0500 marked best answer robot_localization NaN output

Hi all, When I execute the robot_localization with the differential mode for odometry data, I received nan value in the /odometry/filtered topic. When I turn on debug mode, I see the following texts. Could you please guide me how to start debugging?

Previous message time was 1507875840.235904932, current message time is 1507875840.269231081, delta is 0.03332614898681640625, velocity is (vX, vY, vZ): (0, 0, 0) (vRoll, vPitch, vYaw): (0, -0, 0) Previous measurement covariance: image description image description

Transformed covariance is [-nan -nan -nan -nan -nan -nan
-nan -nan -nan -nan -nan -nan
-nan -nan -nan -nan -nan -nan
-nan -nan -nan -nan -nan -nan
-nan -nan -nan -nan -nan -nan
-nan -nan -nan -nan -nan -nan ]

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