Cyril Jourdan's profile - activity

Hello everyone,

I use ROS2 Foxy along with robot_localization. I have a differential wheeled robot with odometry and 2 GPS rtk for position and heading.

The sensors work properly independently. I have a clean odometry track and the heading is working fine. The problem occurs when I merge them using robot_localization, with two ekf_localisation_node (local and global) and one navsat_transform_node. I observe a shift/drift between /map and /odom frames and I have my odometry track which is getting disturbed.

Under mapviz, using /map as fixed and target frame :

• red and orange tracks are similar (/odom and /odometry/filtered/local)
• yellow track is /odometry/gps
• blue track is tf_frame with /odom frame (which has /map as a direct parent)
• black track is /odometry/filtered/global

The blue track can become completely crazy :

Here are the parameters used in localization.yaml

navsat_transform:
  ros__parameters:
    magnetic_declination_radians: 0.0387 
    yaw_offset: 0.0 
    zero_altitude: true # True if operating in 2D
    publish_filtered_gps: true
    use_odometry_yaw: true
    wait_for_datum: false
    use_local_cartesian: false
    frequency: 30.0 # Hz
    delay: 0.0 # Seconds
    transform_timeout: 0.0
    broadcast_utm_transform: false
    broadcast_utm_transform_as_parent_frame: false

ekf_local:
  ros__parameters:
    frequency: 30.0 # Hz
    sensor_timeout: 0.1 # Seconds
    two_d_mode: true # No 3D information will be used (zero_altitude already set to true)
    publish_acceleration: false
    publish_tf: true
    reset_on_time_jump: false
    map_frame: map # Defaults to "map" if unspecified
    odom_frame: odom # Defaults to "odom" if unspecified
    base_link_frame: base_footprint # Defaults to "base_link" if unspecified
    world_frame: odom # Defaults to the value of odom_frame if unspecified

    odom0: odom # Wheel odometry
    odom0_config: [true, true, false, # [x, y, z]
                false, false, true, # [roll, pitch, yaw]
                false, false, false, # [x_vel, y_vel, z_vel]
                false, false, false, # [roll_vel, pitch_vel, yaw_vel]
                false, false, false] # [x_accel, y_accel, z_accel]
    odom0_nodelay: true
    odom0_differential: false
    odom0_relative: false
    odom0_queue_size: 30

ekf_global:
  ros__parameters:
    frequency: 30.0 # Hz
    sensor_timeout: 0.1 # Seconds
    two_d_mode: true # No 3D information will be used (zero_altitude already set to true)
    publish_acceleration: false
    publish_tf: true
    reset_on_time_jump: false
    map_frame: map # Defaults to "map" if unspecified
    odom_frame: odom # Defaults to "odom" if unspecified
    base_link_frame: base_footprint # Defaults to "base_link" if unspecified
    world_frame: map # Defaults to the value of odom_frame if unspecified

    odom0: odometry/gps # navsat_transform_node output
    odom0_config: [true, true, false, # [x, y, z]
                false, false, false, # [roll, pitch, yaw]
                false, false, false, # [x_vel, y_vel, z_vel]
                false, false, false, # [roll_vel, pitch_vel, yaw_vel]
                false, false, false] # [x_accel, y_accel, z_accel]
    odom0_nodelay: true
    odom0_differential: false
    odom0_relative: false
    odom0_queue_size: 30

    odom1: odom # Wheel odometry
    odom1_config: [true, true, false, # [x, y, z]
                false, false, false, # [roll, pitch, yaw]
                false, false, false, # [x_vel, y_vel, z_vel]
                false, false, false, # [roll_vel, pitch_vel, yaw_vel]
                false, false, false] # [x_accel, y_accel, z_accel]
    odom1_nodelay: true
    odom1_differential: false
    odom1_relative: false
    odom1_queue_size: 30

    imu0: gps_heading
    imu0_config: [false, false, false, # [x, y, z]
                false, false, true, # [roll, pitch, yaw]
                false, false, false, # [x_vel, y_vel, z_vel]
                false, false, false, # [roll_vel, pitch_vel, yaw_vel]
                false, false, false] # [x_accel, y_accel, z_accel]
    imu0_nodelay: false
    imu0_differential: false
    imu0_relative: false
    imu0_queue_size: 30

Do you have any idea what is causing this behavior ?

Many thanks

Hi Tom, thanks a lot for your comment. Your suggestions are exactly the kind of issues we have encounter. First, the gps

Hi, there are some examples in the test package that you have probably already seen (here). Have you been able to actual

robot_localization /map /odom drift Hello everyone, I use ROS2 Foxy along with robot_localization. I have a differentia

Have you found the solution to this issue ? I'm facing the same problem where both can ping each other but I can't see t

Hi, You could use maxon EPOS4 controllers, they are CiA402 and work fine with ros_canopen. There is a large range of pr

Hi @martinlucan, There is also an EMCY error message: 81#2032040000000000 , does anyone know what it refers to? Th

Hi @gvdhoorn, I think I saw the information to create a /tutorials page as opposed to a /Tutorials on the following page

Hi @gvdhoorn, thank you for fixing the Tutorials page, I used the lower case "tutorials" indeed. So I also deleted my wr

Hi,

I've created a tutorial for the ros_canopen package : http://wiki.ros.org/ros_canopen.

I made the tutorial according to this guideline : http://wiki.ros.org/WritingTutorials. The tutorial page is located here: http://wiki.ros.org/ros_canopen/tutor...

I would like the ros_canopen page to display the Tutorial links automatically in the gray square entitled "Package Links" on the upper right, but at the moment it doesn't. I read on ROS Answers that it can take up to 3 days, but I can't find any official information regarding that, and it has been a week since I published it.

Am I missing something to get that link displayed or should I just wait longer or refresh something by myself ?

Adding Tutorial link automatically to a wiki page Hi, I've created a tutorial for the ros_canopen package : http://wiki

Hi @martinlucan, There is also an EMCY error message: 81#2032040000000000 , does anyone know what it refers to? Th

and TxPDO like this: TxPDO - TxPDO1 1st object: Statusword (0x60410010) - TxPDO1 2nd object: Modes of Operation display

Hi Martin, Looking at your DCF file, your PDO mapping is different than what ros_canopen expects, so this is most likel

Hi Martin, Looking at your DCF file, your PDO mapping is different than what ros_canopen expects, so this is most likel

Hi martinlucan, it seems that you try to set the Statusword read-only object. Your idexes are inverted: Controlword is 0

Hi, there is a partial migration done here with config files given at the end of that post, and there is a socketcan wra

Hi martinlucan, are you able to share all your configuration files or update your question to see where the problem coul

Setting the DefaultValue to 0 works indeed, thanks. Do you think the writing of the Homing method value could be skipped

"This should not be needed.. (Unless the object is const in the device's object directory." I agree, and I think I foun

This should not be needed.. (Unless the object is const in the device's object directory. I agree, and I think I found t

This should not be needed.. (Unless the object is const in the device's object directory. I agree, and I think I found t

I am a bit confused by this process, as a DCF file contains for example objects which are read only and calculated durin

Hi, I didn't find it at the time, so I wrote the code with the kinematics to get the odometry.

roslaunch using tmux for large project Hello, I have a project with a launch file that includes other launch files and

rqt_reconfigure unable to resize column in Kinetic Hello, When I launch (with ROS Kinetic) rosrun rqt_reconfigure rqt_

ros_canopen Homing method AccessType Hi, The Homing method (object 0x6098) AccessType is usually defined as "RW" in doc

Hi Mathias, thank you for your detailed reply. When you say objects which have ParameterValue defined are written to the

Hi! Did you found how to do that ? I think you can tag again your question with ros_canopen to be noticed by the package

Why ros_canopen needs EDS/DCF file ? Hello, I'm using ros_canopen and was wondering how it works internally. I can get

Hi, I'm also trying to send a velocity command. Did you get it working ?

Hi, I'm not sure how to solve your issue, but the first thing I can say is that the Maxon EPOS2 is not CiA 402 compatibl