Questions tagged [ekf]
the extended Kalman filter, a filter for nonlinear state estimation.
256
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Frequency Limitation in robot_localization's EKF Node
I'm using version 2.7.4 of the robot_localization package for ROS Noetic.
I'm currently utilizing two nodes of the package:
EKF Local Node: Fuses data from an IMU (100Hz) and wheel encoders (4Hz).
...
CommunityBot
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1
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EKF of robot_localization have a delay compared to GPS data
I am using ros2 humble and the extended Kalman Filter from the robot_localization package to get both the odom -> base_link and ...
CommunityBot
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2
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1
answer
101
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robot_localization GPS causing large drift/covariance spike
I am trying to implement the dual ekf navsat example on my real-world robot. The local EKF with wheel odometry and IMU works quite well and has no issues. As far as I can tell, my global EKF ...
CommunityBot
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2
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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 ...
CommunityBot
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Robot Localization pkg / Motion Model prediction step
As I was investigating the transition functions in the prediction step in the ROS Robot Localization pkg (ekf.cpp) .
I found for the orientation equations there are as follows:
Roll angle is the ...
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2
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4
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Not accurate results of yaw when fusing wheel encoders with imu using robot_localization
Hello,
I have differential drive Jaguar 4x4 wheel mobile robot. I am trying to fuse wheel odometry data with IMU sensor measurements using robot_localization. The problem is that after some time (...
CommunityBot
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EKFSLAM with LiDAR and IMU + GPS localization module
There are many resources that relate to EKFSLAM based on the presence of only a LiDAR unit, which localize both the vehicle and the detected landmarks.
I see that they often use state vectors that get ...
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1
answer
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navsat_transform node doesn't publish utm_transform
Hi, please, help me with following issue, i've been trying to solve it for a week already...
Can't make my navsat_transform node publishing utm_transform.
And odometry/filtered from EKF always has ...
Dan__2022
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0
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robot_localization dual_ekf with GPS: change utm -> map tranform during runtime?
I am wondering if anybody has tried to dynamically change the utm/world -> map transform in a robot_localization dual-ekf setup (with GPS data).
Will it break the nodes behaviour?
The reason for ...
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1
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What is the purpose of splitting SLAM odom and EKF odom frames in waypoint_nav?
I have a robot somewhat similar to the clearpath husky . In their gmapping launch file, they have their odom frame set to 'odom_gmapping'. config shown here:
...
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[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 ...
mathislm
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2
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57
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Odometry into EKF for localization
I want to fuse a Lidar-Odometry into my EKF where I'm already using encoder, IMU, GPS. The odometry has as output a delta pose, how to put that into the filter? How to deal with the covariances?
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MPU6050 providing gyroscope values for linear acceleration
I am using this ROS2 driver to connect my MPU6050 to RPi 4 running ROS2 humble. It outputs an IMU message containing linear acceleration and angular velocity. The linear acceleration values seem to be ...
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Issue in using IMU MPU 6050
Hello, I have been trying to implement MPU 6050 imu sensor using, MPU SERIAL NODE , when i initially run the node, IMU values seem fine, for example, linear accelerations in x, y, z directions come to ...
Rahulwashere
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Extended Kalman Filter Robot Localization Drift
I have implemented an EKF for robot localization in the style of robot_localization using the famous C++ template kalman library....
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Nonlinear continuous system function of IMU sensor fusion robot
For my robotics course I have to implement the nonlinear continuous system function for a mobile robot that is equipped with a GPS receiver and an IMU consisting of an accelerometer and a gyroscope. ...
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Jiggling tf Tree After fusing Odometry with IMU
I am using ROS NOETIC and Pioneer3DX as the mobile robot which publishes Odometry info into /RosAria/pose topic as nav_msgs/Odometry message.
Phidgets Spatial IMU is being used which published the IMU ...
pavan_c
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1
answer
59
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Confused with EKF Localization
I have been trying to understand EKF localization from Probabilistic Robotics by Thrun Burgard and Fox.
There the covariance prediction is given by
$$\overline{\Sigma }_t=G_t\Sigma_{t-1}G^T_t+V_tM_{t-...
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what exactly is 'observation model' for a robot
In my journey to understand the Kalman filter, I understood how a state model representation is derived for a robot and why(to get the robot state for a given input u) it is required.
$$
\boldsymbol{...
Ben♦
- 5,825
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robot_pose_ekf won't publish any messages
I am having trouble getting the robot_pose_ekf package to publish messages. I launch it with this launch file.
...
Ben♦
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Why is the EKF approximated this way?
I'm a student that recently started taking a course on cognitive robotics. The book I use is Probabilistic Robotics by Thrun Burgard and Fox.
In the EKF algorithm, we linearized the action model in ...
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71
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EKF slam loop closure and landmark location updates
I asked a variation of the question before but I never got an answer.
Basically I'm trying to understand how after loop closure the location of prior seen landmarks gets updated and their uncertainty ...
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Extended Kalman Filter and PID controller
I'm trying to build a model based on tracking an object in 2-D using MATLAB (time-varying system).
I built the model using an Extended Kalman Filter and a PID controller.
I have a doubt regards the ...
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Robot_localization ekf node does not subscribe to Odom topic
Hello,
I am trying to fuse my odometry from my 2D differential drive robot, with my imu using the ekf from RL. The odometry works fine on it's own, but I think I must be missing something simple in my ...
LiquidTurtle1
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1
answer
997
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EKF implementation on odometry/IMU
I am applying Extended Kalman Filter for a mobile robot with IMU and odometry data. I am running simulation currently. However, I don't have suitable data for odo/IMU measurements to use. Where can I ...
CommunityBot
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1
answer
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Doubt with linearization and discretization process - Ekf
In the paper "State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU", the authors describe the application of an extended kalman filter to estimate states of a quadruped ...
CommunityBot
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1
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IMU sensor coordinates for EKF
Hi, I am using ekf to fuse multiple IMU. I was reading this portion
...
MrOCW
6
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1
answer
539
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How do you determine EKF process noise for pre-recorded data sets?
I've seen this question, which asks about determining the process noise for an EKF. I don't see anything there about pre-recorded data sets.
My thought on how to determine the noise parameters, ...
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71
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Derivation of EKF slam landmark initialization
I have read a couple posts which gives the formula for initializing a new landmark in EKF slam but the derivation is not given.
EKF-SLAM initialize new landmark in covariance matrix
Could someone ...
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robot_localization not fusing imu data
According to the documentation in : http://docs.ros.org/en/noetic/api/robot_localization/html/state_estimation_nodes.html
I was able to transform the imu data header fram from "imu_link" ...
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1
answer
200
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EKF slam vs global bundle adjustment
How does EKF slam and the covariance matrix interact with global bundle adjustment?
In particular the covariance matrix gives you a confidence on location but global bundle adjustment does not. How do ...
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1
answer
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robot_localization EKF node does not publish on /odometry/filtered (ROS2 Foxy)
I am using ROS2 Foxy and Gazebo 11 in Ubuntu 20.04. I have a URDF description of a mobile robot that uses 4 wheels for mecanum drive. Using the robot_localization package, I am creating an EKF node ...
CommunityBot
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1
answer
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Why innovation equation in Extended Kalman filter is called innovation?
In the Extended Kalman filter for SLAM, why is the innovation equation called so? Is there a reason for using the specific word "innovation" for the difference between the observed ...
Ben♦
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vote
1
answer
141
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EKF SLAM Prediction Step
My question relates to the prediction step in EKF SLAM when we get measurements. This is a question I've encountered while implementing EKF SLAM in ROS.
At the beginning of the SLAM loop, we predict ...
CommunityBot
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1
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392
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Estimate noise covariance matrix of measurements using a ros-bag
I am facing the following issue, and some hint or orientation would be great. I am working on a project in which I was given a ROS bag, and I have to implement a localization node using SLAM. To do so,...
CommunityBot
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1
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how to use IMU sensor with relative orientation data in navsat transform node
Hi,
I am working on fusing visual odometry, IMU, and gps sensor by using a robot localization package. There are a couple of issues with my IMU data 1) it's not giving absolute orientation or heading ...
rcbot
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3
answers
1k
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Do I need a camera along with LIDAR for SLAM?
Equipment:
Pi 3 B
Mega
2x Encoder Motor 12VDC 299RPM
MPU 6050
12V bat 2000mAh
LIDAR or Kinect ?
I want to implement EKF SLAM. I have referred bot NOX ROS wandering robot, Hussarian CORE and Robotics ...
CommunityBot
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1
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264
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Derive the system's dynamics function and the Jacobian Matrix G of Extended Kalman Filter of a differential drive robot on a 2D plane
I have found the following answer on the system's dynamics function and what the Jacobian matrix G of the Extended Kalman Filter look like for a 2D robot with a differential drive. Taken from slides ...
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navsat_transform_node geographicErr
Hello,
I am usinf the robot_localization_package to localize a differential drive robot. In my setup, I follow the guidelines of the package documentation about fusing the GPS with dead reckoning and ...
GiacomoDario
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1
answer
1
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EKF start to predict after amcl stop sending pose
Hello,
I'm trying to use robot_localization to fuse amcl_pose with encoder odom, and latter GPS.
The experiment is basing on Turtlebot3, gazebo and ros2-foxy.
It's working well if the robot is moving.
...
xingjl6280
2
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2
answers
401
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Tracking vehicle 6 states extended kalman filter required?
I'm trying to track an accelerating vehicle using a camera, an IMU, and a GPS.
I use for the state space equation a constant acceleration model:
The states are the position, the velocity, and the ...
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1
answer
543
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What's the correct approach to merging of localization and odometry data?
We've got a mobile platform with a source of odometry and an IMU, which are merged in an EKF filter (robot_localization node), producing continuous odom->base_link transform. The robot is also ...
CommunityBot
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1
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165
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Usage of Falkolib(OpenSLAM) for 2D lidar landmark extraction
I am using Falkolib for landmark extraction in a 2D environment. Currently I am using the testKeypointOC executable from the bin directory.
I have changed the testKeypointOC.cpp file and the ...
CommunityBot
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1
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robot_localization (ekf node) output is not stable for a long time
Hi. I am using ekf_localization_node for fusing imu, wheel odometry and amcl_pose ( My config is as follow )
The reason why i am using amcl_pose; When i use ...
Fuat Akca
1
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1
answer
280
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No difference between UKF and EKF for SLAM
I built EKF and UKF SLAM algorithms. The problem is that I expected to see a difference because of the more precise approximation of the system in the UKF.
Here's a screenshot from the estimated path ...
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robot_localization IMU yaw velocity causes vertical drift
Hi,
I am using robot_localization's EKF node with my robot's wheel odometry and an IMU. My configuration file is the following:
...
anonymous58627
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0
answers
53
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SLAM - Angle calculation failure ?-EKF
i am currently building up a EKF SLAM. I dont know where my mistake is but i think it has something to do with the angle my robot is driving towards but im not completly sure. First i thought it could ...
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75
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EKF Update Step measurement data doesnt fit state vector
I have an EKF SLAM Algorithm which tries to estimate the robots position (X,Y,Theta) + the X,Y coordinates of several landmarks. Like in the posted algorithm i have a range/bearing sensor. I ...
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1
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1
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Using only velocity in robot_localization
Hey guys,
I'm using robot_localization ekf on ROS2 Foxy to fuse two odometry sources. I am working in 2D so only x, y and yaw is used and the two_d_mode is set to true.
I was trying to use only the ...
pfedom
0
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1
answer
2
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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 ...