Ask Your Question

HIT_LR's profile - activity

2022-01-19 12:49:29 -0500 marked best answer Problem about fusing uwb and odom data with robot_localization

I would like to fuse several sensors data to locate the robot. When I'm using the great robot_localization package to fuse the uwb and odom data, a problem happens. I need to specify the two topics: the /loc generated from uwb is geometry_msgs/PoseWithCovarianceStamped, while the odom is nav_msgs/Odometry. That is the odometry/filtered output always very similar to (almost equals to) the odom data or uwb data, while my ekf_params.yaml settings are below:

frequency: 10
sensor_timeout: 0.1
two_d_mode: true
transform_time_offset: 0.0
transform_timeout: 0.0
print_diagnostics: true
debug: false
debug_out_file: /home/robot/file1.txt
publish_tf: true
publish_acceleration: false      
odom_frame: odom          
base_link_frame: base_footprint 
world_frame: odom           
odom0: /odom
odom0_config: [true,  true,  false,
               false, false, false,
               false, false, false,
               false, false, false,
               false, false, false]
odom0_queue_size: 2
odom0_nodelay: false
odom0_differential: false
odom0_relative: false
odom0_pose_rejection_threshold: 5
odom0_twist_rejection_threshold: 1

pose0: /loc
pose0_config: [true,  true,  false,
               false, false, false,
               false, false, false,
               false, false, false,
               false, false, false]
pose0_differential: false
pose0_relative: false
pose0_queue_size: 5
pose0_rejection_threshold: 2 
pose0_nodelay: false

use_control: true
stamped_control: false
control_timeout: 0.2
control_config: [true, false, false, false, false, true]
acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4]
deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5]
acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9]
deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0]

process_noise_covariance: [0.05, 0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                           0,    0.05, 0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                           0,    0,    0.06, 0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                           0,    0,    0,    0.03, 0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                           0,    0,    0,    0,    0.03, 0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                           0,    0,    0,    0,    0,    0.06, 0,     0,     0,    0,    0,    0,    0,    0,    0,
                           0,    0,    0,    0,    0,    0,    0.025, 0,     0,    0,    0,    0,    0,    0,    0,
                           0,    0,    0,    0,    0,    0,    0,     0.025, 0,    0,    0,    0,    0,    0,    0,
                           0,    0,    0,    0,    0,    0,    0,     0,     0.04, 0,    0,    0,    0,    0,    0,
                           0,    0,    0,    0,    0,    0,    0,     0,     0,    0.01, 0,    0,    0,    0,    0,
                           0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0.01, 0,    0,    0,    0,
                           0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0.02, 0,    0,    0,
                           0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0.01, 0,    0,
                           0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0.01, 0,
                           0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0.015]


initial_estimate_covariance: [1e-1, 0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                              0,    1e-1, 0,    0,    0,    0,    0,    0,    0,    0 ...
(more)
2022-01-17 07:34:28 -0500 received badge  Notable Question (source)
2022-01-16 02:47:21 -0500 commented question Problem about fusing uwb and odom data with robot_localization

The uwb data frequency is 1Hz that set by me arbitrarily. Can be set to 5Hz, 10Hz , 20Hz...... Its error is about 0.05m

2022-01-15 08:13:27 -0500 received badge  Popular Question (source)
2022-01-15 07:52:19 -0500 commented question Problem about fusing uwb and odom data with robot_localization

Sorry for my late reply, it seems that I have not edit correctly since I'm new here.

2022-01-15 07:49:32 -0500 edited question Problem about fusing uwb and odom data with robot_localization

Problem about fusing uwb and odom data with robot_localization I would like to fuse several sensors data to locate the r

2022-01-13 22:08:52 -0500 commented answer setting covariance and params for robot_localization

兄弟你好,我也是深圳的,最近也是在使用r_l碰到了小问题,能否请教一下呢。

2022-01-13 08:03:53 -0500 received badge  Supporter (source)
2022-01-07 23:21:50 -0500 asked a question Problem about fusing uwb and odom data with robot_localization

Problem about fusing uwb and odom data with robot_localization I would like to fuse several sensors data to locate th

2021-12-21 06:21:09 -0500 received badge  Enthusiast
2021-12-08 08:52:15 -0500 commented question robot_localization: IMU not being used in sensor fusion

Hi! How do you set your pose.orientation in the /uwb topic? Always set them [0, 0, 0, 1]?