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Questions tagged [localization]

Localization is the problem of estimating a robot's pose relative to a map of its environment.

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Advantages of full BA vs Pose Graph

Generally to reduce computational load, you can forgo full BA and do pose graph optimization with loop closure. Local odometery is still calculated from sensor input(IMU, Visual etc) but the landmark ...
FourierFlux's user avatar
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inaccurate navigation because of slow localization rate in rtabmap [closed]

I'm using rtabmap for mapping and navigation on my custom AGV. I'm using wheel odometry as a guess and 2d lidar with the icp_odometry node. I'm using move_base_flex as I needed the path execution ...
Saurabh Rahatekar's user avatar
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ROS2 Laser Scan rotates with the robot in RVIZ

I am currently working on developing a ROS2 application for autonomous navigation using AMCl I came across an issue Video that shows the LaserScan rotating in a similar fashion to the robot when I use ...
Vrushab Jain's user avatar
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[Slam Toolbox]Map is overlapping and doesn't make loop_closure

Required Info: Operating System: Ubuntu 22.04 Installation type: binaries ROS Version : ROS2 Humble Version or commit hash: release version Laser unit: RP Lidar We mapped it on the map above and ...
zarqu0n's user avatar
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robot_localization EKF covariance exploding with absolute pose input

Firstly, I have had a look at other questions targeted around exploding covariances, yet I still cannot figure out what is wrong with my setup. I have multiple static cameras that detect a moving AR ...
b0xermatt's user avatar
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Compensate magnetometer tilt with the IMU in ROS

For outdoor navigation, I have a magnetometer driver node publishing sensor_msgs/msg/MagneticField messages in mag_link frame (fixed frame relative to base_link) I have an IMU driver node publishing ...
Antoine Van Malleghem's user avatar
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1 answer
30 views

sensor fusion with many sensors and different update rates

It seems like there is no shortage of sensor fusion libraries that can fuse basic common odometric sensors like IMUs and GPS, but none that can fuse from an arbitrary number of sources, especially ...
TheDarkSaint's user avatar
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2 answers
132 views

ROS2 Localization mode in slam_toolbox

I am currently comparing different localization methods for nav2 on my ROS2-humble workspace. Right now, I'm trying to integrate slam_toolbox's localization_launch.py with nav2. I've generated ....
oblivious_turtle21's user avatar
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slam_toolbox & Turtlebot 3 House Simulation: localization jumps to different room

I am trying to simulate a Turtlebot3 robot in Gazebo within the turtlebot3_house.world in the turtlebot3_gazebo package on ROS 2 ...
tk811's user avatar
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What paramertization is used for Bundle Adjustment?

You have three choices it seems for optimization when running bundle adjustment. Euler Angles Quaternions Axis-Angle What is the normal paramertization to use? Quaternions need to be normalized if ...
FourierFlux's user avatar
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Nav2 - Pose estimation

my problem is that when I give 2D pose estimation, to estimate the robot pose of the real robot, the robot, the lidar scan and the local costmap will start to move left and right, basically, the map-&...
Mattia Dutto's user avatar
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Unscented Kalman Filter Implementation for Robot Localization using wheel odometry and IMU

I'm trying to implement an unscented Kalman filter algorithm for differential robot localization. The sensors I'm using are wheel encoders and 9-DOF IMU. I've implemented the part of the filter for ...
Omar Ramzy's user avatar
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88 views

ROS navigation warn: Timed out waiting for transform from base_footprint to map

Hi I am doing Navigation stack on pepper robot. while doing navigation stack I came across multiple warnings and errors. I rectified few warnings but facing other warnings too. I have searched on ...
sai's user avatar
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2D Rigid Scan Matcher for Sparse Points (<=3) for Global Localization

I am working on a wheeled robot in ROS2 Humble that navigates in the XY plane. The robot currently uses wheeled odometry for position estimation, but due to its dead reckoning nature it experiences ...
Soham Patil's user avatar
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Feasibility: Pointcloud-Mesh Registration to determine unknown transforms?

Hello friends, I have a series of timestamped 2D laserscan cross sections from a mobile robot driving from one end of a straight pipe to another. The robot travels roughly around the same speed, but ...
emi's user avatar
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Knowing whether the robot is delocalised or not by observing relevant data

The way that we know if a robot is delocalised is by opening RViz and observing the laser's scan data with respect to the static map on the ...
user37666's user avatar
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robot_localization no output (using only VO, Compass, and GPS)

I'm using robot_localization (ROS2 Humble on Ubuntu) for a boat integration and want to fuse my LiDAR odometry (ideally to be used more in the harbors etc) with GPS data (ideally to be used on open ...
LucasMS's user avatar
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227 views

Tuning slam-toolbox localization and expectations

I am new to SLAM-Toolbox, and seeing the volume of parameters and options is a bit daunting. I have managed to find async map creation parameters for a non-complex area of my home that appear to ...
Cyclical Obsessive's user avatar
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Localization problem of my robot in RVİZ environment at first run

I am doing research for the first positioning for my robot to be done correctly on the map. I have done various researches and applications (such as amcl, ICP) for these and I am still continuing. But ...
furkancetin's user avatar
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243 views

Localisation without GPS: BNO055 vs BMI088 / other IMU

I am working on a robot for navigating confined spaces that are GPS denied, I have to navigate a 300mm square concrete tube. This is a prototype/proof of concept work and I don't have a ton of sensor ...
Friizzle's user avatar
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25 views

Map-base-odom relationship for external localizator

I am using an external positioning device, and the device sends the vehicle's location data to ROS via UDP while also performing TF transformations. I provide the map frame as the "parent frame&...
aoz_rob's user avatar
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UKF position data closely match slam absolute pose regard wheel odometry

I have a specific question related to a robot localization package. I've been trying to get an answer on the Robot Stack Exchange for quite some time now, but I haven't received a response. I'm ...
Spectra543's user avatar
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452 views

How to serialize a map in yaml/pgm file type to get data/posegraph file type

I am trying to use the Slam toolbox localization node with ROS2 Humble on Ubunto on a dual-boot laptop, previously I used the AMCL node of the nav2 stack but wanted to try something different to see ...
Rob Binnenmars's user avatar
1 vote
1 answer
215 views

Correct use of transformations while using coordinate frames

I would like to understand better the transformations between the frames established in REP-105. I did read the specification but I think I might be misunderstanding something. Let me bring one ...
ÁngeLoGa's user avatar
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High frequency robot-localization output when fusing GNSS + IMU

I'm in the process of tuning a robot-localization package parameters in my sensor-fusion ROS2 package. I have a dataset from various sensors mounted on a vehicle (IMU, GNSS, Lidar, Rgb Cameras, Radar, ...
Stanislav Svědiroh's user avatar
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Pose Graph SLAM Frontend and Backend confusion

I have confusion about constructing the graph for pose graph SLAM. What I understood, there are two types of edges (i.e. constraints): Edge/Constraint between two consecutive poses Edge/Constraint ...
Cluv's user avatar
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152 views

imu vs imu/data

I use ROS2/Python/Gazebo project. In online examples, I see robot_localization node using (usually in nav2_params.yaml) the "imu/data" as imu source. In the same time, all projects I got ...
Steve Brown's user avatar
1 vote
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77 views

Implementing ArUco Marker-Based Global Frame for Precise Docking with Nav2 Controller Server

I am trying achieve precise docking using ArUco markers, I already have the pose of the marker with respect to my camera? I'm looking to replace the conventional "map => odom" ...
Osama Salah's user avatar
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23 views

How can I get the relative position of a static object to another device with IMU?

I want to be able to search for an lost RFID, in a room. I have an RFID scanner (hand held) and an Android phone with typical sensors (gravity, acceleration, gyroscpose, etc.). I also have RSSI and ...
HLB's user avatar
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386 views

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). ...
user2454945's user avatar
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127 views

Robot_state_publisher don't publish on /tf topic

I try to make a differential drives robot with 2 coder at my wheels and a lidar in front of the mobile base. Currently i can teleop it, i have a good odometry and the laser scan data come correctly to ...
Josselin's user avatar
1 vote
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33 views

Alternative Landmark Observation Model for Fast SLAM using 3D Point Clouds

I am in the process of implementing a Fast-SLAM Algorithm as it is described in Chapter 13 of Probabilistic Robotics by Thrun, Burgard and Fox or this publication by Thrun, Koller and Wegbreit however,...
Roman Stadlhuber's user avatar
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1 answer
554 views

Robot localization package to perform sensor fusion, odometry/filtered not publishing any data

I am working on a 6-wheeled autonomous vehicle to make it autonomously navigate to the desired location. Using robot localization package I tried to perform sensor fusion of the Lidar and IMU data. I ...
Muhammad Ahmed's user avatar
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33 views

Modeling EKF for localization of an Autonomous Mobile Robot

I've got an EKF for a simple two-wheeled mobile robot, whose states are the pose and the wheel's angular speeds. I was wondering what were the advantages of having those last two states included ...
frank-resq's user avatar
2 votes
1 answer
269 views

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 ...
Leetfail's user avatar
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2 answers
211 views

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?
frank-resq's user avatar
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2 answers
164 views

Dead reckoning or SLAM for localization with unusual locomotion?

I am working on a senior design project with a robot that moves in an unusual way: it rolls around in a single spherical body, similar to BB-8 from the Star Wars sequels. My personal task for the ...
Blucario's user avatar
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2 answers
392 views

Robot loses proper localization

Having trouble getting robot to stay localized in map. The lidar maps the correct position of robot but not the odometry or ekf tf. One can see the two positions on graphic below. The robot base is ...
Russ76's user avatar
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1 vote
1 answer
421 views

ROS2 robot_localization not working correctly with namespace

I have a straightforward ROS2 launch script that launches the following: gazebo client, gazebo server and spawn_entity to spawn a robot in gazebo robot_state_publisher and map->odom static ...
Hussein Fawzy's user avatar
1 vote
1 answer
132 views

Omnidirectional kinematic model in robot_localization's EKF

I am looking for a more detailed mathematical background of robot_localization's kinematic model used for nonlinear kalman filtering. From the documentation, the ...
SystemSigma_'s user avatar
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0 answers
417 views

How to transform given latitude and longitude data to map frame

I am working with a multi sensor RTK-GNSS for localization of my robot. This is the data I am getting from the GNSS system. How to relate this data to my robot map frame for navigation?
busireddy harshavardhanreddy's user avatar
0 votes
1 answer
866 views

odom frame keeps moving in ROS GPS robot_localization

I am using two instances of ROS robot_localization package to get the local and global odometry. In the local one, I am fusing IMU and twist messages. It is working fine. But when I use the second ...
Zillur Rahman's user avatar
1 vote
2 answers
222 views

Estimating angular velocity from position

If you have two position estimates $P_{t_1}$ and $P_{t_2}$ and times $t_1$ and $t_2$ how do you extract the average angular velocity from them? The linear velocity is a simple difference but how do ...
FourierFlux's user avatar
2 votes
0 answers
85 views

Differentiating correspondences in ICP objective function?

The Iterative Closest Point (ICP) algorithm usually alternates between two steps: Point correspondence finding Nonlinear least squares optimization of ICP objective function given those ...
jordi's user avatar
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1 vote
1 answer
133 views

Lawn Mower Robot Boundary Wire Current

Robot Lawn Mowers have those Boundary Wires where a weak current runs through. This creates a magnetic field around it. The Robot then detects the magnetic field and knows it has reached the end of ...
Linus's user avatar
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72 views

robot_localization ros package: UKF estimate jump but input did not

The UKF is configured to fuse odometry, a reference pose (using ndt matching), and IMU data. But although the robot is standing and all sensors are telling that it is not moving the UKF is jumping see ...
Clemens Mühlbacher's user avatar
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1 answer
98 views

Localization by comparing current lidar scan with previous lidar scan

I have managed to use an ICP algorithm to produce a relative pose difference between a new lidar range scan and the previous lidar scan. When I tested it on individual scan pairs, the results look ...
user27771's user avatar
0 votes
1 answer
14 views

Yaw shifting on not moving outdoor robot with robot localization

I am using robot_localization package for the localization of a robot placed outdoors and equipped with RTK GPS, wheel odometry and IMU. When the robot is placed somewhere and is not moving, I can ...
user avatar
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1 answer
54 views

How to use a EPM50S8 encoder?

How can I use this encoder with my robot applications? I couldn't find any tutorial about that and it has a lot of cables. (EPM50S8) I have read the datasheet but I don't understand the last three ...
gurselturkeri's user avatar
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28 views

Robot-to-robot relative position over time?

I have 3 robots and I know the starts and end coordinate of each of them. For example for Robot 1 I have Xr1, Yr1 and Xr2,Yr2 coordinates pair , same for Robot2 and 3. I have lateral cameras so can ...
Macedon971's user avatar

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