Questions tagged [localization]
Localization is the problem of estimating a robot's pose relative to a map of its environment.
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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 ...
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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 ...
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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 ...
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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&...
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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 ...
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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 ...
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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 ...
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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, ...
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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 ...
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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 ...
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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" ...
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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 ...
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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).
...
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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 ...
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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,...
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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 ...
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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 ...
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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 ...
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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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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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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 ...
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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 ...
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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 ...
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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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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 ...
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Modelling line sensors for localizing a mobile robot using the Kalman Filter
My goal is to localize a mobile robot with Mecanum wheels in a 8m x 10m area, that is outlined with white lines. The robot weighs around 25 kg, and has a top speed of 2 m/s. The localization should be ...
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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?
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
kosmastsk
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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 ...
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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 ...
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Is it okay to use ROS Navigation Stack for a heavy(200kg +) robot?
Hello,
I wanted to know if we can use the amcl, move_base along with existing planners like TEB and cost maps plugins for a robot weighing 200+ kgs? I intend to operate the robot at an average ...
rajs
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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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Difference between odometry and localization wrt determining robot's pose?
AFAIK, localization is used to determine a robot's pose from a given a map and sensor data. I know of statistical localization approaches which use particle filters to determine a robot's location ...
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Include information on the environment in map-aware particle filter
I have a robot equipped with some sensors for estimating the movement in a 2D environment (IMU, odometer). The robot is free to move within an area delimited by some walls. The map of the environment (...
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How to get from lidar coordinates to gps coordinates
I build a map from lidar slam lego-loam, which is a lidar odometer, and then I want to use this map by gps localization.
I know the map will have errors in some ...
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I'm trying to understand an equation from a motor simulation $\dot w_i (u_ i ,w_i,l _i , \dot l _ i )$
I have a simulated motor and I'm not understanding the math to control it.
This is the equation for the force of the motor, also called an 'actuator'.
$\dot w_i (u_ i ,w_i,l _i , \dot l _ i )$
w ...
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Why does the complexity of the particle filter scales exponentially with the number of dimentions?
In the AI for Robotics course from Udacity, Sebastian Thrun mentions that "the complexity of the particle filter grows exponentially with the number of dimensions". Why is this the case? We ...
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Fusing non-continuous global pose data
I am fusing the map pose data which is calculated from the fiducial_slam node. Here the topic being fused with ekf_node is /fiducial_pose (geometry_msgs/PoseWithCovarianceStamped). The problem i'm ...
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Can odometry be calculated with LaserScan alone?
I am building a robot and implementing autonomous navigation using gmapping, amcl, and move_base. From my understanding the amcl package compares the map to lidar data (sensor_msgs/LaserScan) to ...
fruitbot
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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 ...
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Is VIO a good solution for autonomous drone navigation at higher altiutues (200+ms)?
When it comes in indoor scenarios, VIOs may provide good performance, but when it comes to outdoor environments and high altitudes without proper GPS coverage/stability, are current VIOs capable of ...
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World and Map Frame for a real robot
I am trying to develop a robot for mapping purposes. Currently, I have a Velodyne VLP16 lidar and an IMU. I am having a bit of a confusion in stating the transforms of the system. For the lidar and ...
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Best localization algorithms available in ROS2/ROS1
I have used slam_toolbox and AMCL are these the only options.
If we only have slam_toolbox and AMCL then which one is preferred strictly for localization(no mapping ) for large warehouses with a ...
root-robot
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Is there a device for detecting what room you are in of a building?
I have found some inspiration for creating an smartphone application. But one of the main segments of the app requires it to know where the smartphone is located. It doesn't have to be that precies. ...
