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Questions tagged [ekf-localization-node]

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ROS2 robot_localization how to correct x and y position when hit a wall

I started using the robot_localization EKF node recently to fuse encoder odometry and IMU data (I'm using a differential robot with 2 wheels). It works well because if I rotate the robot by hand, the ...
Gaetano Pispisa's user avatar
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Robot_localization - GPS heading problem

I hope someone can help me I'm using robot_localization to improve my location estimation using the following ekf nodes ekf_node_odom: odometry + IMU ekf_node_map: odometry + IMU + GPS the first ...
Supermax182's user avatar
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Erratic Robot Movement in RViz2 with Nav2: Back and Forth Motion and Small Jumps

I'm encountering a peculiar issue with robot movement in RViz2 using Nav2, where the robot exhibits erratic back-and-forth movements accompanied by small jumps during the simulation. This behavior is ...
Marcus Vinicius's user avatar
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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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1 answer
210 views

EKF localization node in robot_localization package doesn't stop

I'm working on building a good Odometry estimation system for a quadruped Unitree robot (A1 and Go1). I've been trying to use ekf_localization node from the robot_localization package in ROS Melodic. ...
Deepak's user avatar
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2 answers
258 views

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 ...
S.Tomo's user avatar
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Nav_sat_transfor_node dual-EKF causes serious jumping in map frame

I have a differential robot with poor grip as you can see in the picture below, with the following devices: -Motor controller - 100Hz, encoder and publishing in my topic /diff_cont/odom (frame id: ...
Juan Miguel Sequeira Da Silva's user avatar
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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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2 answers
106 views

Robot Localization does not keep constant trajectory despite rotation-only input with IMU only

I am trying to figure out why the ROS robot localization is giving me weird results from estimating motion for IMU only. It seems that when the robot is moving with constant velocity and a change in ...
user36471's user avatar
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1 answer
284 views

[Robot Localization] How to use absolute orientation from IMU with absolut positionning from visual SLAM

Hi, I'm quite new to ROS and robot_localization so I'm getting confused really fast with TFs. I've been using for some time now a visual SLAM algorithm that works fine and I'd like to slowly improve ...
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seeking clarity regarding the 'world_frame' parameter in ekf_localization node

I have spawned two husky bots (namespaced husky_1 and husky_2) in the Gazebo world. I am ...
skpro19's user avatar
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Need help locating 'ekf_localization node' inside 'robot_localization' package

I naviagted to the husky_control package using roscd husky_control. There exists a launch file inside the ...
skpro19's user avatar
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What is the default noise parameters in sensor inputs in robot_localization?

In my yaml parameter file I have not specified any initial noise or process noise for my two sensors. What default noise values will the extended Kalman filter use on these inputs? I have tried to ...
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1 answer
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weird initial path from robot_localization's EKF node

Hi all, I am trying to evaluate our EKF fused odom_IMU_DVL performance based on odom_reference that EKF fused by differential GPS and other sensors(IMU...). The odom_IMU_DVL is fused with IMU(...
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1 answer
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Error when launching ekf_localization_node

I'm trying to use robot_localization package to fuse IMU and a visual estimation but, when I try to run the .launch file, it returns an error. Terminal output: ...
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1 answer
41 views

Reference frames in robot_localization

Hello! I've got a couple of questions: I've been reading robot_localization documentation (http://docs.ros.org/melodic/api/robot_localization/html/preparing_sensor_data.html) and I've seen that they ...
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1 answer
58 views

Position and linear velocity blow up when using Robot Localization (IMU+Radar)

Hello, I am trying to estimate odometry from IMU and radar sensors using robot localization. The filter starts good after a few seconds but then both the position (x,y) and linear velocity (x,y) blow ...
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1 answer
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odom frame in navsat_transform_node in case of quasi mobile platform

Hi, (I read the REP105 multiple times, but could not figure out in the following particular case what is the role of the frames and how to set them up) I have a robotic arm that is going to be ...
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1 answer
14 views

Multiple sensors using robot localization

Hello, currently i'm using an EKF from the robot localization package to generate the odom->base_link transformation. For this, i'm using three sources: wheels velocities, laser and visual. Since ...
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1 answer
2 views

robot_localization dual-EKF: where did the idea come from?

We're currently using the dual-EKF scheme described in the documentation and the configuration example for using two instances of robot_localization: one for estimating the map->odom ...
Rick's user avatar
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1 answer
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Issues with odometry in robot_localization

I'm using the robot_localization package with ROS Kinetic and I'm trying to fuse the IMU and GPS data from the Matrice M100 similar to the work done here. My issue is the odometry/gps topic looks ...
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1 answer
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Robot Localization not transforms from input's frame_id

Hi, I am trying to fuse the output of ORB-SLAM2 (as PoseWithCovarianceStamped msg) into ekf_localization_node instance. The frame_id of the pose msg is an optical frame called "zed_optical_frame&...
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1 answer
29 views

Robot_localization result is unpredictable

Hello, I very recently posted a question about the robot_localization package, and received some very good insight. I managed to fuse my wheel odometry with my IMU readings, but the result is not what ...
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1 answer
15 views

robot_localization tf tree changes from odom -> base to map -> base when using a custom particle filter

Hello, I have robot_localization setup to fuse IMU data from a flight controller with pose data from ORB-SLAM. I am also using gmapping to generate a 2D map. When I run my robot_localization node, my ...
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1 answer
14 views

How to create a static tf from artags to map frame?

Hi, I am using the ar_track_alvar package to detect artags placed in my environment. When the tags are detected I get a new frame like "ar_marker_1" and this is linked to the robots camera ...
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1 answer
21 views

Setting up Transforms for robot_localization

My question is kind of similar to this one. I'm having trouble understanding how the transforms should be setup for the case I'm working on My robot is a quad with a camera that can localise itself ...
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1 answer
51 views

How to get a ground truth yaw angle or odometry from Gazebo?

I need to do georeferencing with point clouds on Gazebo so I use navsat_transform_node to convert gps to odom information as odometry/gps and I use ekf localization with "odometry/gps" and &...
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1 answer
22 views

How to launch robot_localization nodes?

GOAL I want to use a node from this package (EKF node) with one of its possible inputs (IMU). PROBLEM Using this package: About this package: http://wiki.ros.org/robot_localization I can't launch the ...
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1 answer
5 views

robot_localization using dual node drifts

I'm trying to use dual ekf node to do transform for my robot. I'm using params file: ...
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1 answer
50 views

Robot_Localization , exploding covariances, why?

Hello dear ROS community. I'm trying to use robot_localization with the ekf node inorder to produce an accurate orientation of my robot using 3 IMUs. I wrote the program for the IMU (Sparkfun SEN-...
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1 answer
34 views

robot_localization incorrect map->utm transform

Hello , I have some questions regarding robot_localization package using real map from Google or OSM. Settings: I have inputs from GPS sensor only - as a start for testing - generating 3 messages from ...
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1 answer
15 views

Strange results with robot_localization and navsat_transform_node

Hi to all, hi @tom-moore I finally solved all the problems about my system configuration and now I'm able to integrate my GPS data in ekf_localization_node by using ...
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1 answer
3 views

robot location prediction step

Hi, In the robot_localisation package, when the use_control param is set to true then the values from the ...
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1 answer
49 views

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
53 views

GPS Waypoint navigation with robot_localization and navsat_transform_node

I'm using Clearpath Husky A200 which outputs encoders information, a XSENS IMU (without a good compass) and a Novatel RTK GPS with sub-inch accuracy and I would like to implement a GPS waypoints ...
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1 answer
56 views

Yaw problem for IMU fusinon in robot_localization

EDIT1: The Yaw feedback from Mti-300 is a didital compass that in ENU frame. So it is not the same with /odom source. If I fusion data with IMU's Yaw, the result is very bad. If I only fusion with the ...
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1 answer
3 views

Fuse sensors with different accuracy in robot_localization

What is the better way to fuse sensors with different accuracy in robot_localization that measure the same values of state vector? initial_estimate_covariance is set for state vector, not for sensors. ...
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2 answers
19 views

ekf_localization_node system model when fusing IMU and Odometry

Hello, I have found this great tutorial about Extended Kalman filter which made me wonder how does ekf_localization_node in ROS work (I found a similar question asked before, however it was not ...
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1 answer
7 views

Drifting odom to base_frame transform

I have been working with the robot_localization package and have gotten the ekf and navsat nodes working reasonably, but I notice that over time the resultant position drifts, even though my system is ...
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1 answer
16 views

robot_localization/ekf_localization when working with namespaces

Hello, I am working on Clearpath's Jackal now and trying to spawn it on a Gazebo world with another robot. For that (as far as I understand) I need to use namespaces (one for each robot). I have taken ...
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1 answer
11 views

EKF rejects timestamp more than the cache length earlier than newest transform cache

Hi, Having a px4flow optical flow sensor, I want to convert its opt_flow_rad message into a TwistWithCovarianceStamped, which I can use in my EKF localization node. However, the ekf node doesn't ...
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1 answer
20 views

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
3 views

robot_localization TF problem

Hi there, I'm using ROS Indigo with V-REP simulator and robot_localization to fuse odom and imu data. I start the ...
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1 answer
12 views

ekf_localization_node: what frame for IMU?

Hi there, I am trying to fuse GPS with IMU information with ekf_localization_node. For now I have tied by map and odom frames to be always the same, so I assume that GPS is giving absolute map ...
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1 answer
3 views

ekf_localization_node core dumping

Still setting up ekf_localization_node here -- I'm playing back and processing my bag, but getting this error, whether I run from a lauch file with params or with no params from rosrun, ...
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1 answer
17 views

ekf_localization_node type error for topic imu0

I'm setting up a ekf_localization_node and feeding it with a Sensor_msgs/Imu message (from a Razor), but getting this error, ERROR 1432289505.280310120: ERROR reading sensor update config: type error ...
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1 answer
4 views

ekf_localization_node exhibits unexpected behavior

I have two instances of ekf_localization_node. The first, used for odometry, reads the x velocity (in the base_link frame) from the wheel encoder odometry topic and publishes the odom-to-base_link ...
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