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How to set up 2D pose with IMU and odometry using robot localization ekf?

I have a differential drive robot, it is a 4wd robot, 2 motors, 2 encoders,s it behaves like a differential robot actually. Odometry from encoders is working well. I'm using ROS2 Humble on ubuntu 22....
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Robot_Localization Local/Global ekf nodes

I have a doubt regarding the use of Robot_localization. I was watching this tutorial: https://navigation.ros.org/tutorials/docs/navigation2_with_gps.html in my case I have a real robot (equipped with ...
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Is there a way to leverage a custom inertial model for the robot_localization state estimation EKF?

I have a model I evaluated that better models the state of the system my EKF is tracking than the out-of-the-box model provided by robot_localization. Is there a way to just swap out the inertial ...
Joe Tekk's user avatar
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Issue with Minipupper ROS1 - Spawning Multiple Instances in Gazebo

I am currently working with Minipupper in ROS1 and I'm facing an issue while trying to spawn two instances of it in Gazebo. To achieve this, I am using a parameter in the gazebo.launch file called &...
ADAM ZAHIR RODRIGUEZ's user avatar
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Robot localization /odometry/filtered is not displayed

Version: Raspberry Pi 4, Lubuntu20.04, ROS1-noetic I am thinking of estimating the position using robot localization from the IMU. However, I am having trouble because the Topic for /odometry/filtered ...
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EKF node do not publish imu data but publish odometry. Humble

I'm new using the robot localization package as you will see on my question below: I'm using Humble with a Differential robot with 2 encoders and IMU wheeltec 9dof. I also have a GNSS but I wont ...
Juan Miguel Sequeira Da Silva's user avatar
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AMCL Small particles don't allow Planning on NAV2

Hi I was able to solve "partially" the related issue AMCL Fails to localize. I've been working on improving localization for my custom Ackermann robot in an environment scaled 7-12 times the ...
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Robot_Localization can't subtract times with different time sources

I am trying to use the Robot_Localization with an IMU and Odometry-Topic and face the following error: ...
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Warnings with base_link in namespace for robot_localization

Hello, ...
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3 answers
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IMU + Odometry Robot Localization Orientation Issue

Hello I am trying to use robot localization package for fusing IMU and Wheel Encoder Odometry such that x and y velocities are taken from odometry data and heading is taken from imu. However I am ...
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How to make ekf localization node for multiple ridgeback robots

Hi all, Now I'm running with Ubuntu 16.04, ROS kinetic (ROS1) I also working with my Gazebo multi ridgeback robots by modifying the ridgeback_simulation But the problem is I don't know how to let EKF ...
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Localization with Triangulation (pozyx)

I'm trying to use [Pozyx hardware] (http://pozyx.io) to localize my robot in a map. With the use of a EKF_localization_node I want to fuse AMCL and Pozyx data and localize the car. This to make sure ...
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ROS ekf_localization

Hi, Is there a way to weitgh/gain on input to the ekf_localization_node more than other? In my case I have wheel odometry and odmetry from an ArUco marker mounted on my robot which is beeing tracked ...
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robot_localization: How to state start position (x,y,z,r,p,y) for ekf

Im using UUV_simulator combined with your robot_localization package. I have been successfully been able to implement ekf with DVL, IMU and Pressure Sensor. The odometry estimate all start at (x,y,z,r,...
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Localization and obstacle avoidance

My system currently has Wheel encoders that give encoder counter and rpm Lidar which publishes /laserscan QR code based pose detection using a high fps camera I am trying to localize the robot as ...
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robot_localization ignores pose data input

Hi, My system description is as follows: Turtlebot - ros-kinetic - Ubuntu 16.04 I am running two instances of robot_localization, odometry in the first instance and 'odometry and global pose' in the ...
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Particle Filter without Laser Scans match

Hi, I'm trying to locate a robot inside a map. I have odometry information, IMU, magnetometer, pressure, a 2d map and the initial position inside the map. But I don't have the ...
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How to solve Warning with /imu_frame using robot_localization package?

Hi, I am using robot_localization package on ROS Kinetic to fuse imu data with wheel encoder odometry and generate a odometry/filtered message to navigate using AMCL for localization. My robot uses a ...
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1 answer
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navsat_transform_node: Tf has two or more unconnected trees

Hi, I'm new in ROS I use robot_localisation Package for Fusing imu, gps, odometry but i have problem with navsat_transform_node when i launch the launch file i receive this warning: [ WARN] [...
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Help initializing EKF to a set position

I had asked this question a while back, but received no response. Hopefully the revised subject line and info helps me come to a solution. I'm running the latest robot_localization package on Kinetic/...
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1 answer
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How to exclude poses of a wheel based robot which place behind of the porevious pose

This question might not be regaring ROS itself but I need your help on below issue regarding robot pose by sensor fusion with EKF. I am currently working on coding sensor fusion of a wheel based robot ...
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1 answer
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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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1 answer
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Calculate position using robot_localization

Hi, I have a cart which has a base ( with four wheels) thats front wheel driven by two motors and fitted with encoder (one for each front wheel). I calculate the distance traveled by counting the ...
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1 answer
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Multi Floor navigation

Hello, What is the best way for localization in multi floor map with indigo? is there any support with this and how to deal with the maps? Much appreciation for your help. Wassim Originally posted by ...
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1 answer
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robot_localization: how to define f function

Hi to all, I'm using and studying the robot_localization package in order to integrate it with my system. At the moment, I would like to better understand how it works and so I've read the Thomas ...
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errors in using robot_localization package

Hello ROS gurus, I am trying to use robot_localization package to better localize my turtlebot in my lab environment. But it seems like it is not able to do what it is meant to do, i am not able to ...
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1 answer
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navsat_transform broadcasting strange map->utm tf

Hello there ! I'm trying to fuse data from different sensors (IMU, GPS and a rotating lidar) into an extended Kalman filter provided by robot_localization in order to drive my rover using move_base. I'...
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1 answer
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Localization vs Navigation

I am learning ROS for my first time, and I am confused about the difference between localization and navigation. As I understand it, amcl is the package used for localization, but then the navigation ...
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1 answer
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ekf_localization control command

Hi! I just saw it now is possible add to the filter a control command, but looking at the code this control applies on the accelerations directly, and not x(t + 1) = Ax(t) + Bu(t). What model use in ...
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1 answer
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How to improve AMCL pose estimate?

Hi all, While developing my own path planner, I found out that AMCL cannot yield acceptable pose estimate despite modifying all possible parameters. Here (with more detailed observation) I recorded a ...
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1 answer
97 views

Robot localization with AMCL and EKF

Hello, I have been following an example here with jackal. My goal so far was to understand how AMCL works. However, in his example he uses ekf_localization and AMCL is just a tool to output cloud with ...
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1 answer
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Motion and Measurement Models for Turtlebot 2

Hi, I am looking for the motion and measurement probabilistic models for the Turtlebot 2. I cannot seem to find anything online about them. I'd like to implement a basic EKF using the Turtlebot 2 so I ...
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ekf_localization: odometry/filtered topic:Frequency too low?

I am using robot_localization to fuse gps and imu referencing this Tom Moore answer: http://answers.ros.org/question/200071/how-to-fuse-imu-gps-using-robot_localization/ My setup is the same with a ...
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2 answers
4 views

Odometry isn't reasonable for rotational motion

The thing is; following screenshot is from simulation, on Gazebo. (And Real robot does this too.) ekf_localization_node uses both of imu and odometry. And using ...
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1 answer
32 views

Interfacing Rtabmap and Robot_Localization

Hello, I am working to use robot_localization to take in info from a piksi gps, rp 2d lidar, and UM7 IMU and to give me a good estimate of where I am in space. I want to report this to rtabmap so I ...
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1 answer
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Robot Monitor gives an error, how to set imu0_pose_covariance?

Hi, Robot Monitor says: imu0_pose_covariance: The covariance at position (35), which corresponds to YAW variance, was zero. This will be replaced with a small value to maintain filter stability, but ...
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1 answer
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Using Robot localisation without odometry values

I am looking to use the EKF node of the Robot localization package to localize my quadcopter but I do not have a odometry sensor on my robot. I have the following - Pose values obtained from visual ...
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1 answer
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Is it possible to use the linear velocity from an optical flow sensors along with IMU data (sensor fusion) in the ekf_localization package? How?

Hi. I am using the px4flow optical flow camera module with pixhawk. It outputs linear velocity, i would like to use this somehow in the extended kalman filter in ros. The inputs to the robot_pose_ekf ...
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1 answer
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ekf_localization compute heading from gps motion?

My magnetometer is not working so great here, so I'm thinking about estimating mobile robot heading from changes in GPS location (as I think is used in car satnavs to get the heading). My question ...
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1 answer
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navsat_transform_node has zero orientation output?

I'm working with a robot with no wheel odometry measures, and have IMU, GPS and motor commands to fuse. Can anyone clarify how the setup should work for this? At the moment I have GPS, IMU and motor ...
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