Questions tagged [odometry]

Odometry is the use of data from moving sensors to estimate change in position over time.

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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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EKF not providing good position estimation

I am working on a robotics project and I am using the package robot_localization in ROS2. I am trying to fuse the wheel odometry and IMU data, but I am struggling a lot to make it work. I've read a ...
João Victor Aguiar's user avatar
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Dose any can give me a little theoretical support about nav_msgs/Odometry

guys. I have a question about nav_msgs/Odometry. I have read the repo https://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom about how to publish odometry over ROS. But in this code, did not tell ...
MysteryFlower's user avatar
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ROS 2 encoder data how to collect and publish

I am working on building a mobile robot in ROS2 on the Jetson nano i have 2 i2c mini encoders that i can get their ticks using a python code and library. How would i go about publishing and processing ...
Charlie's user avatar
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slam_toolbox with IntelRealsense publishing empty /map topic

I will preface that I am fairly new to ROS. I have been trying to acheive SLAM with slam_toolbox using my IntelRealsense D455 depth camera in Ros2 Humble, but /map topic output is empty, which I ...
Luke Jansen's user avatar
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How odometry data generated from IMU and motor encoders

I am working on an autonomous robot that needs nav_msgs/Odometry to work with ros navigation stack nav_msgs/Odometry ...
Mubahsir's user avatar
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Recommended Frequency Range for Commercial Robot Odometry Systems

I'm looking for insights on the recommended frequency range for odometry in commercial robots. Specifically, I'm interested in what frequency range is generally considered effective for maintaining ...
Osama Salah's user avatar
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Ground truth robot position from Ignition Gazebo Sim to ROS 2

Gazebo Sim 6.15 (Fortress), ROS 2 Iron. I want to get "ground truth" robot position into ROS, so that I could use it to validate diff_drive odometry (combining it with IMU to detect wheel ...
Mere Loom's user avatar
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Navigation in Local Frame - /odom

I am working on a control related task - a docking procedure for an AMR to be specific. That task requires my robot's pose information throughout the planned path as it moves to the goal/docking ...
Alperen Keser's user avatar
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Transform between odom and base_link not made. ros2_controller Ackermann Steering Controller

I cannot set odom as a fixed frame inside RViz. It doesn't show up at all. My robot is fully functional and visible in both Gazebo. I don't get any warnings, errors or exceptions in the log. I'm using ...
Balazs Tuba's user avatar
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Incorrect values of encoder for mbot Ranger

I have an mbot ranger which uses the 180 Optical Encoder Motor (https://support.makeblock.com/hc/en-us/articles/12376087604887-About-180-Optical-Encoder-Motor-for-mBot-Ranger-). My final goal is to ...
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Does ORB-Slam3 perform better than ORB-Slam2?

I was trying to compare ORB-Slam2 performace with ORB-Slam3 performance. Consider following comparison from ORB-Slam3 paper (columns with numbers correspond to different sequences from EuRoC dataset): ...
Mahesha999's user avatar
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(How much) does the Markov assumption holds for odometry alone?

According to the book Probabilistic Robotics, "the Markov assumption postulates that past and future data are independent if one knows the current state $x_t$." This is a central assumption ...
xperroni's user avatar
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[slam_toolbox]: Failed to compute odom pose

I'm trying to run my simple robot in the Flatland simulator, ROS2 Humble. The problem occurs when I try to execute the command ...
Tomas Novotny's user avatar
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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 '...
Aditya Kamath's user avatar
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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 ...
Femidis's user avatar
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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 ...
tim's user avatar
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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 ...
nolan's user avatar
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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 ...
Spectra543's user avatar
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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-...
Bart B's user avatar
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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 ...
Ayush Singh's user avatar
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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. ...
kostas T's user avatar
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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: ...
SlimShadys's user avatar
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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 ...
Selim's user avatar
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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 ...
Osama Salah's user avatar
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265 views

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 ...
Dandog's user avatar
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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 ...
Kaushal Sorte's user avatar
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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 ...
Abdelrahman Mohsen's user avatar
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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 ...
Dimitar Baldzhiev's user avatar
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130 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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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 ...
SprintKeyz's user avatar
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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 ...
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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 ...
jordi's user avatar
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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. ...
gleb's user avatar
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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 ...
AA355's user avatar
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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 ...
Ohm's user avatar
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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 ...
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107 views

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 ...
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1 answer
305 views

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: ...
gleb's user avatar
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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 ...
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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 ...
Ross's user avatar
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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 ...
Speedracer1702's user avatar
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
Harshit Kaushik's user avatar
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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 ...
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