Andrey's profile - activity

Hello guys! I have a problem in displaying odometry in Rviz. I use robot localization to fuse odometry from wheels and visual odometry from Kinect. When I turn on visualization in Rviza all screen seems to be yellow. And after several moves it totaly paints all with yellow colour.

I disabled tf from wheel odometry and from visual odometry. Only robot_localization provides tf with odom. Here is my robot_localization launch.

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

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

  <param name="frequency" value="30"/>  
  <param name="sensor_timeout" value="0.1"/>  

  <param name="two_d_mode" value="false"/>
  <param name="transform_time_offset" value="0.0"/>

  <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_base"/>
   <param name="odom1" value="odom_visual"/>

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

  <rosparam param="odom1_config">[false, false, false, 
                                  false, false, false, 
                                  true, true, false,   
                                  false, false, false,
                                  false, false, false]</rosparam>

  <param name="odom0_differential" value="false"/>
<param name="odom1_differential" value="false"/>

  <param name="odom0_relative" value="false"/>
<param name="odom1_relative" value="false"/> 

  <param name="use_odometry_yaw" value="false"/>-->

  <param name="debug"           value="false"/>
  <param name="debug_out_file"  value="debug_ukf_localization.txt"/>

  <param name="alpha" value="0.001"/> 
  <param name="kappa" value="0"/> 

  <param name="beta" value="2"/>

</node>

</launch>

And in addition odom that I get is very inaccurate. So what's problem? Why everything is yellow?

Hello. I'm trying to fuse whell and visual odometry in robot_localization package. But I get insufficiently accurate data on output. The robot is lost more strongly, than at use only a wheel odometry. It is especially noticeable that the robot is lost when it approaches very close to the wall. I'm using kinect and rtab_map for visual odometry.

This is my launch file to robot_localization.

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

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


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

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

  <param name="two_d_mode" value="false"/>
  <param name="transform_time_offset" value="0.0"/>

  <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_base"/>
   <param name="odom1" value="odom_visual"/>

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

  <rosparam param="odom1_config">[false, false, false, 
                                  false, false, false, 
                                  true, true, false,   
                                  false, false, false,
                                  false, false, false]</rosparam>

  <param name="odom0_differential" value="false"/>
 <param name="odom1_differential" value="false"/>

  <param name="odom0_relative" value="false"/>
<param name="odom1_relative" value="false"/>

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

  <param name="debug"           value="false"/>
  <param name="debug_out_file"  value="debug_ukf_localization.txt"/>

  <param name="alpha" value="0.001"/> 
  <param name="kappa" value="0"/> 
  <param name="beta" value="2"/>
</node>

</launch>

What is right way to fuse whell and visual odoms? How should I set <rosparam param="odom0_config"> and <rosparam param="odom1_config">?

Thanks, Tom! How can I check if both of odoms exit in the same coordinate frames?

Robot localization fusing whell and visual odometry Hello. I'm trying to fuse whell and visual odometry in robot_locali

Yes. I just zoomed out and saw what was not right. I removed check mark from "covariance" in odom display and it work ok

Rviz odometry is all yellow Hello guys! I have a problem in displaying odometry in Rviz. I use robot localization to fus

Rviz odometry is all yellow Hello guys! I have a problem in displaying odometry in Rviz. I use robot localization to fus

hector_mapping map issue Hello! I use hector_mapping to build map using odometry and scan data. Everything is ok but whe

Go from gmapping to hector_slam Hello! I have working gmapping for my robot. Now i want to use hector_slam instead of it

Okay, thank you I'll try it.

Hi! I have my own robot that works on odometry and lidar using AMCL. Everything works perfectly. After that, I decided to use robot_pose_ekf to improve data. I use the MPU6050 sensor and odometry from wheels data for this. /robot_pose_ekf/odom_combined give me a data. But I encountered such a problem that I do not know how to connect the robot_pose_ekf package to my the ready system with the AMCL. I searched the Internet, and did not find the information. In which files do I need to make changes to connect robot_pose_ekf?

In launch file I wrote.

    <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
  <param name="output_frame" value="odom_combined"/>
  <param name="base_footprint_frame" value="base_link"/>
  <param name="freq" value="30.0"/>
  <param name="sensor_timeout" value="1.0"/>  
  <param name="odom_used" value="true"/>
  <param name="imu_used" value="true"/>
  <param name="vo_used" value="false"/>
  <param name="publish_tf" value="true"/>
  <remap from="odom" to="odom"/>
  <remap from="imu_data" to="imu_data" />
</node>

But navigation does not work. The terminal gets out of error.

Timed out waiting for transform from base_link to map to become available before running costmap, tf error: . canTransform returned after 0.100751 timeout was 0.1

Here is fragment of my original tf tree of working system, without robot_pose_ekf. Without robot_pose_ekf

With robot_pose_ekf graph is the same exept frame called not "odom" but "odom_combined" and published by robot_pose_ekf.

Okay.How i can change "odom_frame_id" in robot_pose_ekf? I wrote param name="odom_frame_id" value="odom"/ in launching r

Okay. And how i can change "odom_frame_id" in robot_pose_ekf? I wrote param name="odom_frame_id" value="odom"/ in launch

Okay. And how i can change "odom_frame_id" in robot_pose_ekf? I wrote param name="odom_frame_id" value="odom"/ in launch

Okay. And how i can change "odom_frame_id" in robot_pose_ekf? I wrote param name="odom_frame_id" value="odom"/ in launch

Okay. And how i can change "odom_frame_id" in robot_pose_ekf? I wrote param name="odom_frame_id" value="odom"/ in launch

Okay. And how i can change "odom_frame_id" in robot_pose_ekf? I wrote param name="odom_frame_id" value="odom"/ in launch

Okay. And how i can change "odom_frame_id" in robot_pose_ekf? I wrote param name="odom_frame_id" value="odom"/ but nothi

Okay. And how i can change "odom_frame_id" in robot_pose_ekf? I wrote param name="odom_frame_id" value="odom"/ but nothi

Okay. And how i can change "odom_frame_id" in robot_pose_ekf? I wrote but nothing happens.

Okay. And how i can change "odom_frame_id" in robot_pose_ekf? I wrote but nothing happens.

Thank a lot. I'' try it. Can you tell me if I need only to change the odom_frame_id parameter to connect to the amcl and

robot_pose_ekf and AMCL Hi! I have my own robot that works on odometry and lidar using AMCL. Everything works perfectly.