Questions tagged [base-odometry]

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Unable to publish odometry for Unitree A1 Quadruped Robot

I am working on Unitree A1 Quadruped Robot on ROS Melodic (Ubuntu 18.04). I have cloned the unitree_guide repository. When i run ...
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Quadruped is moving very slow when i try to publish odom topic

Hi i am currently working on unitree A1 in ubuntu 18.04 ROS Melodic. I have installed all the unitree_ros and unitree_guide packages in my catkin_ws workspace. i am able to control the quadruped in ...
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Nav2 odometry for Ackermann plugin

Hi I am following this tutorial to set the odom to my truck_robot xacro Unfortunately, I was not able to see the \odom or \demo_odom topic published in my terminal. After issue "ros2 topic list&...
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How to combine slam_toolbox and robot_localization using Nav2?

Setup details: ROS2 foxy on arm architecture CPU with nav2, slam_toolbox and robot_localization installed. My physical robot has an IMU, odometry, GPS and LIDAR sensors. I'm currently working on the ...
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Is RTAB-Map SLAM Possible with My Robot's Current Configuration?

Hello, I am currently trying to accomplish autonomous navigation with a simple four-wheeled differential drive robot by building a static 2D binary occupancy map using the RTAB-Map SLAM package and ...
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base_link not moving while replaying rosbag file in RViz

I recorded a rosbag file with the following topics: /ssl_slam/trajectory; /tf; /odom; /initialpose; /move_base_simple/goal; /tf_static; My goal is to replay the rosbag file in RViz and see the "...
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Noise covariance from sensors are 0....?

Hello, I'm very new in Kalman filter and I'm trying to use EKF packages (i.e., robot_pose_ekf or robot_localization) to fuse odometry and IMU in the HSR from Toyota Research Institute. When I first ...
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Do we need to publish odom in tf if we are using robot_localization?

Hello, My question could seem simple, however I didn't find clear answer for that. I have noticed that if I am using robot_localization pkg I don't need to provide more than 1 absolute source of robot ...
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amcl and odom error while rotating

hi, i am running hector slam using ydlidar and realsense t265 for odom. the position updates properly on the map when the bot is in linear motion but when the bot rotates, the entire map fluctuates ...
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Change Odom topic name in Navigation stack

Hello, I have set up a simple navigation following the default configuration from navigation tutorial Right now, i am publishing odometry in the odom topic, and works fine, I can see the move_base ...
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can somebody clarify odometry in layman's term?

Hi, I am new to ros and robotics, I went through the ros tutorials and is still confused about odometry. I am thinking about a differential drive bot, I get that I can get the ticks from a rotary ...
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Odometry - 4ws quasiomnidirectional - covariance_matrix

Hallo, I had my 4ws base-controller invert wheelspeed if steerangle was bigger then Pi/2 and adjust the steerangle of course. It should improve stability of the robot as well as be more efficient. ...
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Odometry - 4ws quasiomnidirectional - Trigonometry - Strange behaviour

Hi, Iam trying to make odometry work on a four wheel steering quasiomnidirectional base. Its losely based on pr2 trigonometry. The Problem that I encounter is that everything works except Angular_Z ...
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robot_localization not receiving odometer data despite listening

I am trying to fuse odometry from navsat_transform and an IMU using an ekf_localization_node, the orientation is working, but it is constantly stuck at 0, 0, 0. The output of the odometry is ...
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Relationsship between map, odom and base_link coordinate frames

Hello ROS community, in descriptions of the different coordinate frames I read, that they can change with time. For example the odom system can drift and is therefore not suitable for long time/path ...
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Odometry for a wheelchair

Hi there, I'm planning to use the navigation stack package. I currently have the lidar attached to my base, a electric wheelchair. However, odometry seems to be required for the navigation package. I ...
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How to fuse encoder ticks + IMU for odometry?

Hi, I have an IMU which shows the orientation perfectly and also installed some optical encoders. When I move the robot straight, the encoders will show the movement more or less correctly. However, ...
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Can I use motors without encoders (open loop) for base of robot?

I have read that i need to publish odometry data so that the robot knows its current position. I have encoders built into the motor so I know that the steps i am sending will be accurate. Is there a ...
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how I convert string to float?

I'm using arduino to send values from 0.00 to 5.00 and I'm trying to read them but I get this error raise ROSSerializationException(str(e)) rospy.exceptions.ROSSerializationException: <class '...
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robot doesn t start moving

I have setup navigation stack on my robot with all the nodes up and running (move_base, amcl , costmap2d etc.). I am also able to move my robot using teleoperation (keyboard control) and see its ...
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find 3D location of the sensor when a depth image arrives

Hey buddies! I went through the forum and couldn't find a satisfying answer. Sorry, if I reopened an already-answered question. Basically, I need to write a ROS node that will print the 3D location of ...
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Laser scan data not aligned with map data and real world (Navigation Stack)

Good Morning, I am facing a problem recently with navigation. Once navigating, the laser scan inflation is not aligned with the walls included in the map. It happens at every corner in the map, it ...
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Calibrating Pioneer P3DX robot for ROSARIA

Hi All, I am now setting up a new Pioneer 3DX with kinect and URG laser sensor. I have so far managed to put all the sensors and connect them via rosaria. I would now like to do odometry calibration ...
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odometry message from Arduino

Hello, I am trying to create and publish odometry data for a differential drive robot from an Arduino Due board with the data coming from wheel encoders and a gyro sensor attached to the board. my ...
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Dynamic Footprint in Navigation

Dear all, i want to ask if someone has an idea of how to make my footprint dynamic depending on the speed. So for example, if the robot is traveling with high speed, the footprint size should increase ...
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Robot model orientation is improper with respect to map frame

Robot model is not properly oriented (upside down) in rviz when "map" is selected as fixed frame. When the fixed frame is odom the robot model was perfectly aligned and oriented in rviz. How ...
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How does the Planer move plugin work?

I am trying to get the build a omni-directional robot in gazebo. I got it working model by applying forces to each wheel following this tutorial. But the problem is that I also need to do odometry, ...
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best way to compare two pose estimates from different sources

Hi all, I have a mobile robot with navigation_stack up and running. The robot is able to navigate properly from point A to point B. I am using encoders to get the ...
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Robot navigation using CAD dawing maps

I want to provide a map drawn in CAD software for robot navigation instead of laser scans, is there any package or stack to take the CAD drawn maps for navigation. How to accomplish this task? ...
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How scan angle is measured and published in LaserScan msg?

Range of the distance of the obstacles are measured from output of laser sensor but how actually the scan angles are measured. do we use any separate sensor to get the value? Originally posted by ...
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error in TurtleBot2

Hi,guys. I have big trouble.....in TurtleBot2. When I launch rviz, TurtleBot2 rotations itself........but in fact it is not rotation...... This is video: Turtlebot2 error I use groovy in ros and ...
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How to make my own base controller publish /odom?

I have no robot, so I must build one piece by piece. I use differential drivers ,each with a encoder.And each encoder can output two channels signal :A,B. I can read channel A and B to aquire the ...
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Gazebo and PR2 simulation setup publishing nan values on base_odometry/odom

Some background: Essentially I have set up pr2 in simulation in an empty world on gazebo. I would like to set the initial pose of the robot, so I have done the following: ...
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