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2021-11-04 15:30:01 -0500 | marked best answer | robot_localization: Strange frequency of odometry message output Hello, I'm using the robot_localization package on ROS noetic, on an Ubuntu 20.04LTS system with a 4 Core i5. I am running an EKF node, and trying to get the odometry/filtered message output at a fairly high frequency (~200Hz) I am running into some strange behavior when increasing the frequency configuration parameter for the filter. If the frequency parameter is set to ~30Hz or less, each odometry/filtered message is output at the expected frequency, and the delta between each message is evenly distributed. (i.e. at 20Hz, 20 odometry messages are received in a second, and they are each 50ms apart) As soon as the frequency is increased to 40Hz, something strange happens. Several odometry messages are sent with very high frequency (~10 microseconds between each message), followed by a 50 millisecond gap. This behavior is consistent increasing the frequency up to 200Hz. Even at 200Hz, the filter does output an odometry message 200 times in a second. However, the timing between each message is not evenly distributed at all. I have reduced the number of sensors to 1, a simple odometry source from wheel encoders. This message is published at 200Hz. I have tried modulating the frequency at which this odometry message is published, as well as adjusting the queue sizes for the message. Has anyone else experienced this? Is this the expected behavior for the filter? Following section 1.3 of the troubleshooting guide, below is an output of the odom message: I am just hard-setting the X velocity to 0.01 for testing purposes. Also, here is my configuration file: (more) |
2021-11-04 15:27:08 -0500 | answered a question | robot_localization: Strange frequency of odometry message output ANSWER: The answer to this issue, provided by gvdhoorn (Thanks again!), was to disable Nagel's algorithm for the /odome |
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2021-11-04 15:23:57 -0500 | commented question | robot_localization: Strange frequency of odometry message output Wow. OK. Comparing the stamps in the header yields exactly what I would expect. Each odometry message is delivered in 1/ |
2021-11-04 15:13:26 -0500 | commented question | robot_localization: Strange frequency of odometry message output Wow. OK. Comparing the stamps in the header yields exactly what I would expect. Each odometry message is delivered in 1/ |
2021-11-04 14:59:47 -0500 | commented question | robot_localization: Strange frequency of odometry message output Thanks for the reply. Yes, I assumed originally that Nagel's could be at work. I set the odom0_nodelay value to true in |
2021-11-04 14:17:41 -0500 | asked a question | robot_localization: Strange frequency of odometry message output robot_localization: Strange frequency of odometry message output Hello, I'm using the robot_localization package on ROS |