Questions tagged [odometry]

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

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On-board monocular odometry for quadcopter stabilization

Has anyone done this with EKF/PID on a small microcontroller? Or know of code snippets to help implementing this?
thelorax1's user avatar
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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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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} ...
agi gun's user avatar
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Wheeled Mobile Robot State Estimation Model Using Odometry

I have a process model update that follows the form: $$ \mathbf{x}_{k|k-1} = \mathbf{x}_{k-1|k-1} + \delta \mathbf{x}_k, $$ where $\mathbf{x}_{k-1|k-1}$ is the posterior estimate from the last ...
joe.dinius's user avatar
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Effectiveness of visual odometry algorithms (CPU usage)

My robot needs to obtain visual odometry, with a condition that the used algorithm has to have as low computational requirements as possible and the used camera/sensor shouldn't be very expensive. The ...
sykatch's user avatar
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Visual SLAM for wheeled robot

I would appreciate your help for choosing the appropriate real-time SLAM algorithm. I am interested in having autonomous robot, thus a SLAM component is needed for autonomous navigation. The ...
user3294823's user avatar
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651 views

Correcting GPS track with visual odometry (sensor fusion)

I am trying to build low cost and precise outdoor positioning. I explored NS-RAW with RTKLIB - this would be doable but probably will need either a base station to get the correction data for rover or ...
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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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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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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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Kalman filter with measurements indirectly determining state

I have a question regarding a 'fundamental' understanding of the Kalman filter. So, for my application I'm trying to estimate state $x = [\theta~\dot{\theta}~\ddot{\theta}]$ of a robot based on ...
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SLAM - odometry motion model

I am making a project with a 4 wheeled differential robot to make visual SLAM using a stereo rig. I have some encoders to measure de displacement and the steering angle of the robot and I want to use ...
osuarez'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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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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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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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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29 views

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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(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 ...
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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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20 views

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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1 answer
188 views

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 ...
dipper's user avatar
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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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1 answer
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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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72 views

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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1 answer
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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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56 views

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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1 answer
115 views

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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0 answers
173 views

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
0 votes
1 answer
309 views

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
0 votes
2 answers
17 views

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 ...
user avatar
0 votes
3 answers
33 views

How to compute odometry from encoder ticks

Hello, I would like to know how to publish odom by subscribing to my robot's right and left encoder ticks for a differential drive and visualize in rviz. I saw this topic Odom Publisher by Subscribing ...
user avatar
0 votes
2 answers
25 views

robot_localization - using odometry and gps - get weird data

Hello there, I'm having trouble with the robot_localization package. At first I had odometry, IMU and GPS, but the IMU data got disturbed by a magnetic field of our robot. So I have to use only ...
user avatar
0 votes
2 answers
7 views

Not accurate results of yaw when fusing wheel encoders with imu using robot_localization

Hello, I have differential drive Jaguar 4x4 wheel mobile robot. I am trying to fuse wheel odometry data with IMU sensor measurements using robot_localization. The problem is that after some time (...
user avatar
0 votes
2 answers
81 views

Odometry with Cartographer

I am running ROS Kinetic on Ubuntu 16.04. I am working on getting the navigation stack working and I am stuck with the Odometry input. I am currently working with an Ouster LIDAR alongside with an IMU....
user avatar
0 votes
2 answers
14 views

Setting Up Navigation Stack with only Odomtery

Hello, I'm trying to set up the navigation stack on a robot possessing only odometry devices (wheel encoder, IMU, and GPS, published to /odom /imu /gps). No camera/...
user avatar
0 votes
1 answer
98 views

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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0 answers
63 views

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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0 answers
70 views

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 ...
bob's user avatar
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277 views

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 ...
2012User's user avatar
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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 ...
amitjo's user avatar
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0 votes
0 answers
46 views

ICP results as command in odometry motion model

im going through the odometry motion model proposed by Thurn in Probabilistic Robotics famous book and i have some questions concerning the kind of command that we can use. I will explain more my ...
Lotfi Zeghmi's user avatar
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0 answers
422 views

two wheel mobile robot odometry

I am using an encoder to calculate the position and orientation of a mobile robot. The robot has two-wheel and each wheel is attached with an encoder, the result I am getting for my position x,y and ...
oluwayinka esan's user avatar
0 votes
1 answer
179 views

SLAM techniques based on contact, odometry and one front camera

Consider a mobile robot provided with a contact sensor that randomly travels in a closed environment, changing direction every time an obstacle is encountered. Is it possible to reconstruct the 2D map ...
firion's user avatar
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0 answers
173 views

Robot moves sideways in RVIZ ROS

I'm using robot_localization to fuse odom, imu and gps data on a husky robot. After fusion, the robot now moves forward in gazebo but sideways in rviz. I found this question. But the suggested ...
imraj's user avatar
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Sampling from guassian distribution for odometry based motion?

I am trying to generate an odometry based motion model as described in the lectures. I have implemented a C++ version of the code. The issue I am having is that when I try to simulate successive ...
Zain's user avatar
  • 71
0 votes
1 answer
181 views

GraphSLAM data accumulation problem

I try to implement GraphSLAM from this tutorial, The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures. I have some doubt while studying this paper. I hope people who ...
Encipher's user avatar
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