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2019-05-20 01:53:53 -0500 | marked best answer | [robot_localization] Non zero altitude in /gps/filtered when ~zero_altitude & ~two_d_mode are true I am trying to use robot_localization to fuse data from a 9DOF IMU & a GPS, via one instance of ukf_localization_node & an instance of navsat_transform_node. I think my setup is more or less working, except that the messages published by the navsat_transform_node on /gps/filtered have a non zero altitude value. Altitude is not important for my application & having the altitude as 0 in these messages would make integration/debugging much easier for me. The NMEA data from my GPS receiver includes altitude, so the messages on /fix contain this information & I can watch it fluctuate up & down as the receiver sits on my desk. The messages on /odometry/gps have a 0 altitude & the messages on /odometry/filtered have an almost 0 altitude (it fluctuates, but is always on the magnitude of E-14 or E-15). The altitude value in the /gps/filtered messages is fixed at what is presumably an old value from /fix (right now it is 48.4) & does not fluctuate at all as I move the IMU or as the altitude seen in /fix changes. I have ~zero_altitude set to true in the navsat_transform_node & I have ~two_d_mode set to true in the ukf_localization_node. I have tried setting ~initial_state to specify Z as 0 but this had no effect. Is this simply because ~zero_altitude only affects the Odometry messages on /odometry/gps & not the NavSatFix messages on /gps/filtered? Is there a solution? (more) |
2019-04-08 01:09:00 -0500 | marked best answer | robot_localization - IMU orientation query I am trying to use robot_localization to fuse data from a BNO055 IMU & a MTK3339 GPS receiver. I have what appears to be sensible output coming out of the system, however I would like to clarify one thing about the IMU orientation. My launch file is linked below [1] & sets up a nmea_topic_driver to convert raw NMEA messages from the MTK3339 into NavSatFix messages, then a navsat_transform_node & a ukf_localization_node. The outputs that I am interested in are filtered IMU data (as orientation in x,y,z Euler angles) & filtered GPS data (as latitude & longitude) so I am subscribing to /odometry/filtered (which I then convert from quaternion to Euler) & /gps/filtered. The quick start guide for the BNO055 [2] shows on page 4 that it outputs orientation data in the ENU convention expected by REP-0103 & robot_localization, except that it gives 0° at North rather than East, so I have set yaw_offset for navsat_transform_node to 1.5707963 as explained by the doc. However there doesn't appear to be an equivalent parameter for the ukf_localization_node. Do I need to specify this 90° in the transform between base_link frame & imu frame? Any other input on other parts of my setup that may be wrong are of course welcomed! |
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2017-10-20 10:10:42 -0500 | commented question | [robot_localization] Non zero altitude in /gps/filtered when ~zero_altitude & ~two_d_mode are true Thankyou, my mistake was pressing the Preformatted Text button first & then pasting where it said 'enter code here'. |
2017-10-20 10:09:51 -0500 | edited question | [robot_localization] Non zero altitude in /gps/filtered when ~zero_altitude & ~two_d_mode are true [robot_localization] Non zero altitude in /gps/filtered when ~zero_altitude & ~two_d_mode are true I am trying to us |
2017-10-20 09:35:27 -0500 | asked a question | [robot_localization] Non zero altitude in /gps/filtered when ~zero_altitude & ~two_d_mode are true [robot_localization] Non zero altitude in /gps/filtered when ~zero_altitude & ~two_d_mode are true I am trying to us |
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2017-10-09 09:54:54 -0500 | asked a question | robot_localization - IMU orientation query robot_localization - IMU orientation query I am trying to use robot_localization to fuse data from a BNO055 IMU & a |