I want to visualise my robot's odometry. I have a physical 4-wheel robot with me. They publish when the encoder ticks and the IMU values. To get the fused data and the tf from base_link to odom frame I am using the robot_localization package. Unfortunately, there is no data being published in odometry/filtered and accel/filtered.
This issue is similar to mine. The solution given there is to start Gazebo properly so that data gets published in the clock/ topic. But I do not want to simulate in Gazebo. I have a physical robot with me!
Setting use_sim_time to False doesn't solve the problem.
This is my eky.yaml file used by the robot_localization node:
### ekf config file ###
ekf_filter_node:
ros__parameters:
frequency: 30.0
two_d_mode: false
publish_acceleration: true
publish_tf: true
#map_frame: map # Defaults to "map" if unspecified
odom_frame: odom # Defaults to "odom" if unspecified
base_link_frame: base_link # Defaults to "base_link" ifunspecified
world_frame: odom # Defaults to the value ofodom_frame if unspecified
odom0: encoder/odom
odom0_config: [true, true, true,
false, false, false,
false, false, false,
false, false, true,
false, false, false]
imu0: camera/imu
imu0_config: [false, false, false,
true, true, true,
false, false, false,
false, false, false,
false, false, false]
Here is the display.launch.py file that I am using:
import os
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.conditions import IfCondition, UnlessCondition
from launch.substitutions import Command, LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch_ros.descriptions import ParameterValue
def generate_launch_description():
# Set the path to this package.
pkg_share = FindPackageShare(package='r23_description').find('r23_description')
# Set the path to the RViz configuration settings
default_rviz_config_path = os.path.join(pkg_share, 'rviz/rviz_basic_settings.rviz')
# Set the path to the URDF file
default_urdf_model_path = os.path.join(pkg_share, 'urdf/r23_description.urdf')
# Launch configuration variables specific to simulation
gui = LaunchConfiguration('gui')
urdf_model = LaunchConfiguration('urdf_model')
rviz_config_file = LaunchConfiguration('rviz_config_file')
use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
use_rviz = LaunchConfiguration('use_rviz')
use_sim_time = LaunchConfiguration('use_sim_time')
# Declare the launch arguments
declare_urdf_model_path_cmd = DeclareLaunchArgument(
name='urdf_model',
default_value=default_urdf_model_path,
description='Absolute path to robot urdf file')
declare_rviz_config_file_cmd = DeclareLaunchArgument(
name='rviz_config_file',
default_value=default_rviz_config_path,
description='Full path to the RVIZ config file to use')
declare_use_joint_state_publisher_cmd = DeclareLaunchArgument(
name='gui',
default_value='True',
description='Flag to enable joint_state_publisher_gui')
declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
name='use_robot_state_pub',
default_value='True',
description='Whether to start the robot state publisher')
declare_use_rviz_cmd = DeclareLaunchArgument(
name='use_rviz',
default_value='True',
description='Whether to start RVIZ')
declare_use_sim_time_cmd = DeclareLaunchArgument(
name='use_sim_time',
default_value='False',
description='Use simulation (Gazebo) clock if true')
# Specify the actions
# Publish the joint state values for the non-fixed joints in the URDF file.
start_joint_state_publisher_cmd = Node(
condition=UnlessCondition(gui),
package='joint_state_publisher',
executable='joint_state_publisher',
name='joint_state_publisher')
# A GUI to manipulate the joint state values
start_joint_state_publisher_gui_node = Node(
condition=IfCondition(gui),
package='joint_state_publisher_gui',
executable='joint_state_publisher_gui',
name='joint_state_publisher_gui')
# Subscribe to the joint states of the robot, and publish the 3D pose of each link.
start_robot_state_publisher_cmd = Node(
condition=IfCondition(use_robot_state_pub),
package='robot_state_publisher',
executable='robot_state_publisher',
parameters=[{'use_sim_time': use_sim_time,
'robot_description': ParameterValue(Command(['cat ',default_urdf_model_path,]), value_type=str)}],
arguments=[default_urdf_model_path])
# Launch RViz
start_rviz_cmd = Node(
condition=IfCondition(use_rviz),
package='rviz2',
executable='rviz2',
name='rviz2',
output='screen',
arguments=['-d', rviz_config_file])
robot_localization_node = Node(
package='robot_localization',
executable='ekf_node',
name='ekf_filter_node',
output='screen',
parameters=[os.path.join(pkg_share, 'config/ekf.yaml'), {'use_sim_time': LaunchConfiguration('use_sim_time')}]
)
DeclareLaunchArgument(name='use_sim_time', default_value='False',
description='Flag to enable use_sim_time'),
# Create the launch description and populate
ld = LaunchDescription()
# Declare the launch options
ld.add_action(declare_urdf_model_path_cmd)
ld.add_action(declare_rviz_config_file_cmd)
ld.add_action(declare_use_joint_state_publisher_cmd)
ld.add_action(declare_use_robot_state_pub_cmd)
ld.add_action(declare_use_rviz_cmd)
ld.add_action(declare_use_sim_time_cmd)
# Add any actions
ld.add_action(start_joint_state_publisher_cmd)
ld.add_action(start_joint_state_publisher_gui_node)
ld.add_action(start_robot_state_publisher_cmd)
ld.add_action(robot_localization_node)
ld.add_action(start_rviz_cmd)
return ld
Here is the sample data from IMU and Encoders.
What changes do I need to make in order to get the robot_localization node to publish the odom/filtered, accel/filtered and the odom => base_link transformations?
Originally posted by tsadarsh on ROS Answers with karma: 78 on 2023-01-03
Post score: 1