Questions tagged [localization]
Localization is the problem of estimating a robot's pose relative to a map of its environment.
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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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Collaboration of mobile robot and survaillance camera - classic localization (still) needed?
Just started with the topic of mobile robotics..
so I'm still into concept making and little programming, but have not setup everything or tested at all. I got a (differential) mobile robot (lego ...
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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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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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EKF SLAM : Missing older landmarks in new observation
I am a beginner to SLAM and robotics in general and I have been trying to implement SLAM on my GoPiGo3 robot car kit using primarily Chapter 10 from Probabilistic Robotics by Sebastian Thrun as ...
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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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Covariance of Gaussian after sequence of homogeneous transformations
Assume we have a robot that moves and observes landmarks on his path. The path is composed of $k$ poses $s_1 \: ... s_k$ where $s_i = [x,\ y,\ \theta]$. From the sensors, we read the motion ...
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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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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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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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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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SEIF ,online version of Graph slam create doubt in Motion Update state
I have a thesis work about Graph Slam The GraphSLAM
Algorithm with Applications to Large-Scale Mapping of Urban Structures
I try to implement it with the help of this paper but during the ...
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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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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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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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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_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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gmapping make missing map when follows a straight wall
Hi,
I have a mobile robot with Lidar sensor for mapping and localization in gazebo environment. i am using slam_gmapping for mapping.
My problem is about ...
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Localize a Mobile Robot on a Mirror
I am currently busy with a project which requires me to construct a robot capable of cleaning a heliostat (movable mirror used to redirect sunlight). Heliostats are basically large flat mirrors that ...
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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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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 ...
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How important it is to sync the timing for gnss and lidar in localization?
I have not synced the timing for gnss and lidar yet. Will it affect the localization accuracy a lot? I found gnss_pose is published based on the GPS time and ndt_pose is published based on the current ...
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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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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 ...
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Localisation of Robot in a Rectangle
I am wondering how to go about localising a robot in a rectangle drawn on a smooth surface. Basically, there is a tape that lines the shape of the rectangle, and the color of this tape is unique in ...
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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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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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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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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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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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LiDAR Feature Extraction
I'd like to extract "features" of an environment scanned with a 2D LiDAR.
I tried to create a temporary occupancy map to extract "corners" with the Harris Corner Detector. However ...
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Vehicle Odometry Correction Using Lidar Contour Points (Localization)
I am currently working on a project where...
Vehicle travels from point A to B
GPS trajectory is used as a reference
Vehicle odometry (bicycle model without slip angle beta) was used to estimate a ...
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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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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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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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multirobot_map_merge package not working properly
I am trying to map a Gazebo environment using 2 husky bots using the multirobot_map_merge package.
However, the merged map being produced is wrong and the robots are not being localized correctly ...
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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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Self localization for 3 wheeled omnidirectional robot
I am trying to self localize a 3 wheeled omni directional robots using just motor encoders
I followed the odometry method mentioned in equations 5,8,9 of https://bibliotecadigital.ipb.pt/bitstream/...
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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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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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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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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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Kalman Filter for 2d pose
I'm really sorry if this is a dumb question, but I don't have a clue on how to do this. I'm trying to write a kalman filter with a State vector of :
$$
{x,
y,
\dot{x},
\dot{y},
\ddot{x},
\ddot{y}
...
Ben♦
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Likelihood field sensor model (Probabilistic Robotics, Thrun et al., p.169-174)
I am currently working on the "likelihood field" sensor model (aka "endpoint model") by Thrun et al. (book: Probabilistic Robotics, Thrun et al., p.169-174)
In this context I have ...
Ben♦
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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 ...
