Questions tagged [kalman]

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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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ROS Standard SI Units

Hello everyone! I'm currently using this code, to extract clusters from a Point Cloud and track them via a Kalman Filter with constant velocity: Github Source Right now I'm trying to publish the ...
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Publishing Velocity of Kalman Filtered Clusters

Hello everyone, I've segmented an incoming Point Cloud, applied an euclidian cluster extraction and then associated the data between frames combined with a Kalman filter. Right now I'm publishing text ...
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How does robot_localization fuse pose odometry data?

Hi guys, I have a question concerning the working principle of robot_localization. I'm fusing odometry and IMU data. My odometry provides only absolute pose information, so I'm letting the ...
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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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Subcriber callback's rate is lower then publisher's publish rate

Hi, I've been working on the implementation of a EKF and have been running into a strange issue. As some may be familiar the Kalman filter algorithm can be viewed as running two process. The Update ...
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is hector_slam includes any kind of kalman filter? if not, how should i do?

Hello, I have -only- LMS100 lidar and can create map with hector_slam. My question is hector_slam includes filters like kalman filter or extended kalman filter (EKF)? If hector_slam itself doesnt ...
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robot_localization as simple filter without fusion

Can robot_localization be used without fusing multiple sources, ie, as a simple filter for odometry alone? I do not need or want to fuse an IMU with odometry, rather I simply want to smooth out the ...
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Use robot_localization to integrate fixed overhead camera with wheel odometry

Hello, I'm trying to integrate the wheel odometry's measurements of a Sphero robot with the position measurements obtained from a visual tracker algorithm (TLD) running on the stream of images of an ...
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ekf_localization_node no output

Hello everyone I am a beginner with ROS, and want to test things with the ekf_localization_node (I use ROS Jade and Ubuntu 14.04) So, I simulated a 2-wheeled robot in a 2D environment in Matlab. ...
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Has anyone used the KalmanFilter Opencv libraries inside ROS?

Hi, I was wondering if someone has used the Kalman filter of Opencv inside ROS. The "normal" Opencv program works perfectly, but when i use it inside ros (The same code), it throws me the ...
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path planning with a two-wheeled robot

Hi everyone, I am currently using ROS Indigo on Ubuntu 14.04.2. ...
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ROS Package to filter raw IMU data (Linear Acceleration/Angular Velocity/Magnetic Orientation)

I'm going through the ROS packages for a generic package that will take raw IMU 9DOF readings and perhaps use a Kalman filter to fuse data from the Accelerometer, Gyroscope, and Magnometer. So far I'...
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Calculate covariance matrix from x,y,z data of /odom

I've recorded a bag file from a custom robot (in real world) that does not provide covariane matrix and I want to use /odom to feed an ...
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EKF Sub-sampling?

Hey, I'm publishing odometry at 100 Hz and /robot_pose_ekf/odom only publishes a filtered value for roughly 1 in every four messages I give it. running: rosservice call /robot_pose_ekf/get_status ...
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An algorithm question about SLAM

Hi, this is a SLAM algorithm concept question. There are 2 things I know: There are 2 kinds of maps we usually use - Occupancy grid map and Feature map. (Occupancy grid map divide the map into grids. ...
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what are the states and transistion matrices used in the robot_pose_ekf stack

Does anyone know what state vector, inputs, transistion matrix and measurement matrix is used with the robot_pose_ekf package? The package fuses data from odometry, IMU and vo. how does this implement ...
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Quaternion covariance matrix for imu_filter

Hi everyone, I really hope that someone can help me as I'm quite stuck. I'm using imu_filter to apply a Kalman filter to my visual odometry / IMU measurements. My only problem is: imu_filter expects ...
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Unscented Kalman Filtering?

I want to use an unscented kalman filter (UKF) in ROS to do state estimation. I can't find any ROS packages that implement an UKF so I've been looking around at filtering libraries for C++ that I ...
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