kosmastsk's profile - activity

I am using robot_localization package for the localization of a robot placed outdoors and equipped with RTK GPS, wheel odometry and IMU. When the robot is placed somewhere and is not moving, I can notice that there is a drift in the yaw output of the filtered odometry.
I am using one instance for odom->base_link transform, only with wheel odometry and IMU. The map-> base_link transform is using wheel odometry, IMU and the GPS. Why is this happening?

Also, when the robot starts moving we notice in Rviz that the robot performs a full rotation around itself before moving forward, while the raw IMU measurements do not show any such rotation.

Below is the configuration that I use with the robot_localization for odom->base link.

frequency: 30
sensor_timeout: 0.1
two_d_mode: true
transform_time_offset: 0.0
transform_timeout: 0.2
print_diagnostics: true
debug: false
publish_tf: true

map_frame: map
odom_frame: robot_odom
base_link_frame: robot_base_footprint
world_frame: robot_odom

# Wheel odometry:
odom0: wheel_odom
odom0_config: [false, false, false,
               false, false, false,
               true,  true,  false,
               false, false, false,
               false, false, false]
odom0_queue_size: 10
odom0_nodelay: false
odom0_differential: true
odom0_relative: false

# imu configure:
imu0: imu/data
imu0_config: [false, false, false,
          false,  false, true,
          false, false, false,
          false,  false,  true,
          false,  false,  false]
imu0_nodelay: true
imu0_differential: true
imu0_relative: false
imu0_queue_size: 10
imu0_remove_gravitational_acceleration: true
gravitational_acceleration: 9.7530

initial_estimate_covariance: [1.0,  0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                          0,    1.0,  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,    1.0,  0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                          0,    0,    0,    0,    1.0,  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,    1.0,  0,    0,    0,     0,     0,     0,    0,    0,
                          0,    0,    0,    0,    0,    0,    0,    1.0,  0,    0,     0,     0,     0,    0,    0,
                          0,    0,    0,    0,    0,    0,    0,    0,    1.0,  0,     0,     0,     0,    0,    0,
                          0,    0,    0,    0,    0,    0,    0,    0,    0,    1.0,   0,     0,     0,    0,    0,
                          0,    0,    0,    0,    0,    0,    0,    0,    0,    0,     1.0,   0,     0,    0,    0,
                          0,    0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     1.0,   0,    0,    0,
                          0,    0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     1.0,  0,    0,
                          0,    0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    1.0,  0,
                          0,    0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    1.0]

For map->odom transformation, the configuration is below.

frequency: 20
sensor_timeout: 0.1
two_d_mode: true
transform_time_offset: 0.0
transform_timeout: 0.2
print_diagnostics: true
debug: false
publish_tf: true

map_frame: map
odom_frame: robot_odom
base_link_frame: robot_base_footprint
world_frame: map

# Wheel odometry:
odom0: wheel_odom
odom0_config: [false, false, false,
               false, false, false,
               true,  true,  false ...