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Questions tagged [extended-kalman-filter]

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Predicting pose of turtle ,oving in circle using Extended Kalman Filter [duplicate]

I'm making a simulation in ROS for turtlesim. There is a turtle "A" started moving in a circle in a 2D environment in turtlesim. There is another turtle "B" that needs to chase A ...
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ekf_localization_node : Filterd odometry yaw depend on IMU too much and Laser scan drift when robot rotate with filtered odometry

I have a odometry/filtered fuse by wheel odometry odom and IMU imu_data with ...
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Kalman Filter implementation for a drone. Help confirming my sensor inputs are correct

Hi, I'm learning more about the kalman filter and I thought I'd write a simple implementation for position tracking based on the details at this link and this link However, The filter estimates and ...
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How does robot_localization ekf work?

I have looked through the paper that was published regarding the package and I was wondering how was the kalman filter implemented, this is, which values are used in the prediction step and which ...
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Kalman Filter in robot_localization: Why are velocities and accelarations given relative to the robot frame?

I'm currently digging myself through the Extended Kalman Filter of the robot_localization package. And I was wondering why an EXTENDED Kalman Filter is needed. As Tom Moore states in this comment, the ...
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robot_localization: How are the sensor measurements being fused?

I was working with the robot_localization package for fusing encoder/IMU/GPS measurements. I wanted to know does the filter fuse the measurements in time? Is it a loosely-coupled fusion? It would be ...
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1 answer
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ROS navigation AMCL with extended kalman filter

Hi! I am using the ROS navigation stack with my robot. I have odometry information from the wheel encoders, and a laser range finder. I am currently using AMCL to account for odometry drift. I was ...
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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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How to extract angular velocities from navdata in ardrone_autonomy?

We are trying to accomplish EKF slam using the A.R Drone. For the odometry data, we need to extract the linear velocities and the angular velocities from the navdata topic. We have tried taking the ...
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1 answer
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setting covariances for robot_localization

Hi all, I have a mobile robot and I am using robot_localization to fuse data from wheel_encoders, IMU and hokuyo lidar (using AMCL). In the first instance of ...
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1 answer
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How would you add control commands to robot_localization?

How would one go about adding the control input the to extended kalman filter? Normally this is added in the predict phase of the kalman filter as part of the state transition function, x(k+1) = Ax(k)...
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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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