Questions tagged [odometry]

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

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ROS2 on RaspberryPi4 - odom frame for nav2

I've built a ROS2 robot on RaspberryPi4 wit hubuntu 22.04 and Humble. Im planning to add nav2 and slam toolbox to my robot but I'm having some problems with the wheel controller and hardware interface....
Rosario Laface's user avatar
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sensor fusion with many sensors and different update rates

It seems like there is no shortage of sensor fusion libraries that can fuse basic common odometric sensors like IMUs and GPS, but none that can fuse from an arbitrary number of sources, especially ...
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Issues while setting up EKF for Ackermann Steered Robot

I have an Ackermann steered robot with optical flow sensor mounted at an offset from base_link x = 0, y = 0.4 , z = 0.15 and ...
Rakshit Soni's user avatar
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slam_toolbox - Failed to compute odom pose (No map received in rviz)

I'm trying to do mapping using slam toolbox and it's on a real robot. I don't have ros2 control since the supplier already provided the hardware interface with the robot launching file without a URDF. ...
Ahmed greynoon's user avatar
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[slam_toolbox]: Failed to compute odom pose leading to "No map received in Rviz"

My team and I are currently working on an autonomous rover. I am using ROS2 iron with Ubuntu 22.04. Our rover is equipped with a RPLIDAR which is publishing on the /scan topic. We use this topic and a ...
Guilhem ALLIROT's user avatar
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when use robot_localization package my robot is glitch

i have problem with my odometry when use robot_localization. before use this package, my pose odometry is so bad but no glitching. but when use this package, my odometry is better then before but the ...
M.Syarief Rahman's user avatar
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/odometry/filtered output arrow not showing in rviz

I am using a VM Box to work on sensor fusion for turtlebot3 on ROS2-Humble. When i run my turltebot launch file and ekf launch file..it runs...and when I launch rviz to visualize the arrows from both ...
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Unscented Kalman Filter Implementation for Robot Localization using wheel odometry and IMU

I'm trying to implement an unscented Kalman filter algorithm for differential robot localization. The sensors I'm using are wheel encoders and 9-DOF IMU. I've implemented the part of the filter for ...
Omar Ramzy's user avatar
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Comparison of trajectories from odometries

Is there a way in ROS2 to compare trajectories from odometry data? I'm using robot_localization to calculate various odometry outputs by incorporating GPS and IMU data. I have a bag file where I ...
Supermax182's user avatar
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Drift Issue while doing SLAM using slam toolbox

Version: ROS2 Humble I am trying to map the lab space with my ackermann robot. I have the incoming scan data and the odometry twist field with linear.x and linear.y input from an optical flow sensor, ...
Rakshit Soni's user avatar
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How to set up 2D pose with IMU and odometry using robot localization ekf?

I have a differential drive robot, it is a 4wd robot, 2 motors, 2 encoders,s it behaves like a differential robot actually. Odometry from encoders is working well. I'm using ROS2 Humble on ubuntu 22....
Macedon971'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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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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How can I get more in depth in path following?

I wanted to learn more about ROS, path planning, following etc. I made my own path following algorithm, a simple PD controller that follow waypoints. On a path msg it didn't worked really well, but it ...
defend'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 ...
Mubashir'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 frame)

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 ...
umerkhan-mas'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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(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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2 answers
62 views

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 ...
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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Transform failed during publishing of map_odom transform

i am trying publish tf and odom. my problem is that i always get this error: ...
Khoi's user avatar
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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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332 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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362 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
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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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176 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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