Questions tagged [odometry]
Odometry is the use of data from moving sensors to estimate change in position over time.
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Renaming odom frame on robot_localization
I'm trying to update my robot_localization config, where I want the odom frame to be called 'odom2' (for example) instead of 'odom'.
But the ekf node only seems to work when the odom frame is called '...
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Error transforming from frame 'base_link' to frame 'odom'
I'm trying to write my odometry for a robot. I started by publishing tf odom and I got an error. It is worth noting that when I run rviz with joint_state_publisher without gazebo, I can make odom a ...
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ROS2, how to diagnose bad odometry?
The picture above is the lidar scan in simulation only after rotation. Just to clarify, I know I can use an IMU but right now, I only want to get it working with odometry.
Basically, whenever I rotate ...
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questions about amcl and hector slam
My current urdf files have base_link and base_footprint as parents and child links , however i want to use amcl , i have another launch file for amcl which publishes the odom frame , but my urdf files ...
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how to add a TF for odom --> base_link?
I'm trying to do amcl and currently my map is not working and found the solution, which is the odom --> base_link TF currently not found, how do I create a odom --> base_link TF?
Currently ...
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Transform failed during publishing of map_odom transform
i am trying publish tf and odom. my problem is that i always get this error:
...
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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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Run navsat_transform_node without odometry
My (marine) robot has GNSS and and IMU, but no means to measure odometry (which is an estimate of local motion afaik)
I am looking for my robot's state expressed as tf2 in a predefined local, world-...
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Help regarding /odom
how do i use /odom as a subscription in python script, i have a controller file in which i have to publish cmd_vel and then move my model. then i have to get the position and velocity back to move ...
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Navigation odometry and velocities published
So why do I have to calculate the VX and VTH for odometry when move base from navigation stack actually publishes the velocities for my robot ... i don't get that can someone plz explain.
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Child Robot not following parent in RViz
I'm in a 2D environment in C++/ROS and I have two Robots with only Translational/Rotational velocity. They move only on the X axis and rotate on the X axis. The configuration follows this scheme:
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How to set up odometry for a custom robot?
I want to use nav2 with my model to navigate in a custom world simulated in gazebo. My robot is a legged model so cannot use differential drive, instead I use a custom controller to control and make ...
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ros2_control Odometery Data Publication Frequency Discrepancy
I am using ros2_control framework to control the motor wheel of my robot and to publish odometry data. However, I have encountered an unusual issue where the odometry data is being published at only ...
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Differential Drive Controller 'enable_odom_tf: false' doesn't work
I have 2 wheels diff_drive robot that use diff_drive_controller from ros2_control,so this first work as diff_cont (diff_drive_controller name) publish transform from odom to base_link on /tf.
Now I ...
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Robot tires slipping in Gazebo Ignition. Odometry going wrong hence
I am simulating a 4 wheel differential drive robot in Gazebo Fortress. However, my friction settings seem to be incorrect because my tires slip a lot more than the robot turns and hence my odometry ...
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Sensor fusion with ros2_control
I built 4 wheels robot that uses diff_driver_cont in ros2_control, the controller get encoders reading to calculate interface status and interface command.
later, I used robot_localization package to ...
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Multisession odometry
I have two bag files with significant overlap and multiple loop closure opportunities. However, these bag files were recorded at different times. I want to use these bag files to reconstruct a scene ...
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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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Drive to point PID doesn’t work properly
This is my first post here. I am trying to get a robot I’m working on to drive to a point via a PID controller. My code works fine if the point is in front of the robot, but completely falls apart if ...
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robot_localization /map /odom drift
Hello everyone,
I use ROS2 Foxy along with robot_localization. I have a differential wheeled robot with odometry and 2 GPS rtk for position and heading.
The sensors work properly independently. I have ...
Cyril Jourdan
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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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odometry on 3wd omnidirectional mobile robot
I found formulas for the speeds of the robot in several directions Vx, Vy and w, when I try to find the coordinates of the robot from these speed.I want to define the global coordinates of the robot.
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Question about 4-mecanum wheeled mobile robots
I'm trying to make a mobile robot with 4 mecanum wheels. The method that I've chosen is to fuse the sensors(encoder, imu) with EKF and use the SLAM algorithms(Gmapping, Cartographer, etc..). Right now ...
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odom frame behaves mischievously in rviz when Configuring Robot Localization with error message TF_OLD_DATA
I am trying to learn ros2 nav2 localization link
but when I add the ekf.yaml to launch description rviz behaves mischievously
to be specific: odom frame moves in rviz randomly and this is the error ...
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ROS2 wait for message python
Hello, I am using ros2 foxy with ubuntu 20.04 and i was wondering what was the way to retrieve a message of type odometry only once ?
I have created a node which provide a service, and I want this ...
Bastian2909
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ROS2 plan a trajectory without mapping (without lidar)
Hello, first of all, for a little bit of context, i'm using ros2 foxy with ubuntu 20.04 and gazebo 11.
I'm still learning how everything works together so, if i'm saying something wrong, i would ...
Bastian2909
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How to use a PID controller for different kinematics robots
I implement different drive odometry for a robot. Trying to implement (proportional–integral–derivative controller) PID-based coordinate movements x, y, theta:
...
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[solved] How to use libgazebo_ros_p3d?
I'm using ros2 foxy on ubuntu 20.04 with Gazebo multi-robot simulator, version 11.10.2
I'm trying to simulate a robot using the plugin libgazebo_ros_p3d as I need to have the position over the time ...
Bastian2909
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Which are the Euler and Runge-Kutta odometry formulas for a four mecanum wheels omnidirectional robot?
I have a omnidirectional robot with four mecanum wheels and I have computed its linear and angular velocities starting from wheel speeds expressed in ticks. Now, to compute odometry, I have to ...
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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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How to Disable Lidar on Turtlebot3
Hi!
I want to compare the performance of Odom(wheels) and Lidar. I managed to examine the accuracy of the lidar while the Turtelbot3 is not moving. Now I'm trying to investigate how accurate the odom ...
Belghiti
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Navigation with only Odometry( without Lidar )
Hi!
I want to compare the performance of Odom and Lidar. I managed to examine the accuracy of the lidar while the Turtelbot3 is not moving. Now I'm trying to investigate how accurate the odom is ...
Belghiti
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Is there a way to synchronize ROS time and the time originating from a rosbag?
Some details: I'd like to compare real world data with simulated data, for this reason I'd like to play a rosbag (containing the real world data) and apply the recorded commands to a Gazebo model of ...
florian
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RTAB-Map using isaac_ros_visual_odometry
Hi there. In order to get some hardware acceleration I want to use the isaac_ros_visual_odometry package as a replacement for the rgbd_odometry node of rtabmap_ros.
Now the rgbd_odometry node ...
TurBot
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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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Setting up odometry on physical bot
Howdy!
I'm currently making the switch from gazebo to a physical bot and realized I was using gazebo's diff drive plugin to handle publishing odom transformations.
I'm wondering how can I create a ...
ericnasanta
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How to get odometry from propeller rotation signals knowing that they can rotate to maximum value?
m trying to get Velocity in order to control underwater swarm ROV. I can use the acceleration and to Euler integration but the error will be accumulated over time. As we are having a swarm (many small ...
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How to measure an optical encoder resolution and gear ratio?
I've bought a DC geared motor with an optical encoder. The vendor didn't provide specification. I can read MITSUMI M25N-2R-14 2241 and 25GA-370-12V-330RPM on the motor. There are some pages on the ...
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HECTOR SLAM, odometry in a low cost differential drive robot
I'm a noob in robotics trying to evaluate requirements for a low cost differential drive indoor robot. Would highly appreciate comments on the following questions.
Given the inaccuracies in the wheel ...
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Robot jumps after the initial estimate with gmapping
I have a gmapping SLAM method coupled with robot_localization to provide the map-odom, odom-base_footprint transformation respectively (ROS1).
When I power up the system, the generated map is quite ...
AlexandrosNic
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Proper implementation of `pure_pursuit` for ground robots using waypoints
I am trying to understand and implement pure-pursuit waypoint following in 2D map. My questions are:
1. What exactly do I need to record in my waypoint.csv file?
To ...
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no messages received in topic after transformation
Hello,
we are driving a vehicle with GPS and automated path planning and I recorded the drives.
The rosbag is playing great, but I wanted to visualize the driven path to check the accuracy.
I tried ...
offtaste
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Do we need to publish odom in tf if we are using robot_localization?
Hello,
My question could seem simple, however I didn't find clear answer for that. I have noticed that if I am using robot_localization pkg I don't need to provide more than 1 absolute source of robot ...
Yehor
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Odometry causing a segmentation error
Good afternoon, I have to control a differential drive robot. I had not to use the differential controller plugin, so i just implemented two velocity controllers and a joint state. I now have to ...
iopoi97
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Confusion of the unbounded covariance growth of fused odometry with SLAM
Hello.
I'm currently trying to fuse IMU with wheel odometry as an input to rtabmap. IMU provides acceleration while wheel odometry technically provides a pose, but I'm setting it in differential mode ...
cactus
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Localization of a mobile robot with odometry using quadrature encoders . Is it feasible?
My goal is to localize a mobile differential drive platform using just quadrature encoders using dead reckoning. The robot will operate indoors and is to execute goal to goal trips through hallways ...
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How to reset odom positions of robots while setting initial positions of robots in gazebo simulation through launch file
I'm in the process of creating a coordination system for a multi robot system. For that i currently have created a ROS based simulation in gazebo using Rosbot2.0 (Robot physically available as well). ...
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How to actually fuse sensor using Extended Kalman Filter
Background
I'm working on 4-omniwheel mobile robot. It have encoder on each wheel and MPU 6050 IMU. The robot positioning suffer a great error because slip, so i try to increase the accuracy of ...
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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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Using only velocity in robot_localization
Hey guys,
I'm using robot_localization ekf on ROS2 Foxy to fuse two odometry sources. I am working in 2D so only x, y and yaw is used and the two_d_mode is set to true.
I was trying to use only the ...
pfedom