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2018-04-26 01:01:44 -0500 | marked best answer | 1 GPS, 2 IMUs and 1 Odom: Filtered odom value jumps when GPS updates Hi, I'm trying to feed one GPS, two IMU and one odom signals to localize the vehicle. The problem is, the output odom is jumping when GPS value updates. Here's the flowchart of how I fed the signals: Observation: The frequency of IMU1, IMU2, raw_odom and GPS are: 100 Hz, 50 Hz, 50 Hz and 1 Hz. Obviously, the GPS signal is subject to discrete jumps. First, the output estimate position (/odometry/filtered_odom) can continuously moves. When GPS signal updates, the output position just jumps to the updated GPS position (if the current output estimate position has offsets with the new GPS ones). The jump happens every second as GPS's frequency is 1 Hz. Ideal Outcome: Discard jumping, making the output smooth. Possible Issue: I guess it might caused by wrong frame_id, but right now I'm still not 100% clear in understanding tf. Thanks for helping me out! I can provide any other data if necessary, ROS bag File:https://drive.google.com/file/d/16QCF... Launch file: (more) |
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2018-04-13 14:05:00 -0500 | commented question | 1 GPS, 2 IMUs and 1 Odom: Filtered odom value jumps when GPS updates I just edited the answer and posted the bag file. The GPS covariance is zero as it comes from driver. Please check this |
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2018-04-13 14:02:42 -0500 | edited question | 1 GPS, 2 IMUs and 1 Odom: Filtered odom value jumps when GPS updates 1 GPS, 2 IMUs and 1 Odom: Filtered odom value jumps when GPS updates Hi, I'm trying to feed one GPS, two IMU and one odo |
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2018-04-13 14:02:15 -0500 | edited question | 1 GPS, 2 IMUs and 1 Odom: Filtered odom value jumps when GPS updates 1 GPS, 2 IMUs and 1 Odom: Filtered odom value jumps when GPS updates Hi, I'm trying to feed one GPS, two IMU and one odo |
2018-04-12 01:16:21 -0500 | asked a question | 1 GPS, 2 IMUs and 1 Odom: Filtered odom value jumps when GPS updates 1 GPS, 2 IMUs and 1 Odom: Filtered odom value jumps when GPS updates Hi, I'm trying to feed one GPS, two IMU and one odo |