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Questions tagged [robot-localization]

This tag can refer to: - The general subject area of mobile robot localization, i.e., determine the robot's pose with respect to some fixed reference frame - The specific ROS state estimation package, robot_localization

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robot_localization GeographicLib::GeographicErr

I am trying to run a ros2 bag recorded in gazebo through the robot_localization package. However, for the same trajectory, sometimes, I get an error saying - ...
Ishaan Mahajan's user avatar
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GPS robot heading: calibrated magnetometer causes erratic results

I am currently trying to navigate using an RTK GPS. Unfortunately, despite calibration, my magnetometer's heading estimate seems to be slightly off at certain angles. While moving at these angles, ...
Shmuel Silver's user avatar
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Struggling with GPS RTK (SparkFun) [closed]

I've been continuously struggling to get a SparkFun GPS RTK (RPi PHat) to work for about 3 weeks now. I have it working somewhat reasonably, but I'm finding that the performance is rather ...
Shmuel Silver's user avatar
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1 answer
21 views

SIM(3) conversion to SE(3) after pose graph optimization

To address scale drift in mono slam solutions, the euclidean transformations are converted to SIM(3) transformations and pose graph optimization is run on the 7dof pose graph. My confusion is, how do ...
FourierFlux's user avatar
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Can't integrate localization and navigation in my launch file

I am studying Ros2 for a college project, I've build this robot using some tutorials to help me. I am now researching how to make a dynamic navigation node. My problem is, everytime I run my robot, I ...
Victor Marques de Souza's user avatar
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1 answer
27 views

Robot Blinking Like an UFO in RViz and Costmap Issues, Potential Problem with odom to base_footprint Broadcast for Real Robot

I'm experiencing an issue with my ROS2 setup where my robot appears to blink like a UFO in RViz, and the costmap blinks intermittently. Here’s a detailed breakdown of my situation: 1 - Setup I have a ...
Marcus Vinicius's user avatar
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1 answer
24 views

ROS2 robot_localization how to correct x and y position when hit a wall

I started using the robot_localization EKF node recently to fuse encoder odometry and IMU data (I'm using a differential robot with 2 wheels). It works well because if I rotate the robot by hand, the ...
Gaetano Pispisa's user avatar
1 vote
1 answer
24 views

ICP Localization algorithm for self-driving car

Suppose I have a point clouds from Lidar (1000 frames), I have a point cloud of the map, where car drives and ground truth labels (x,y,z roll,pitch and yaw). What is the algorithm (pseudocode) of ...
Daniil Yefimov's user avatar
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11 views

Advantages of full BA vs Pose Graph

Generally to reduce computational load, you can forgo full BA and do pose graph optimization with loop closure. Local odometery is still calculated from sensor input(IMU, Visual etc) but the landmark ...
FourierFlux's user avatar
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2 answers
71 views

Issues Transitioning Navigation2 from Simulation to Real Robot: Missing Costmaps

Setup: I am using Ubuntu 22.04 and ROS2 Iron, Two 3D Velodynes, a radar. I am using a ros2 bag in which I recorded the autonomous vehicle launched topics (just to get the sensors data: GPS, odom, imu, ...
Marcus Vinicius's user avatar
1 vote
0 answers
17 views

move_base / teb_local_planner not subscribing to odometry/local message from robot_localization ekf_localization node

Currently building a autonomous mecanum drive robot with wheel encoders, IMU, and LiDAR (with GPS to be implemented using a global EKF later). The current configuration uses a local EKF from the ...
Jiqi's user avatar
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i have problem to use robot_localization packages

This error appeared when I used the robot_localization package, possibly because I used the diff_tf package as the odomwheel topic. When the error above appears, my robot on rviz looks like a glitch ...
M.Syarief Rahman's user avatar
1 vote
0 answers
15 views

robot_localization not applying corrective measurement (GPS)

I am a beginner building a mobile outdoor robot using robot_localization and navsat_transform_node. My current setup is to use the ZED2 odom->base_link for relative localization and a ...
beg0101's user avatar
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1 answer
29 views

How to set base_link in r_l

The setup I have a towed auv which has some sensory onboard. Namely a pressure sensor (for depth measuring), a DVL ( for position, orientation, velocities, GPS) and an altimeter including AHRS (...
JS-FWR's user avatar
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1 answer
65 views

Implementing IMU on Hector SLAM

I am working on a project where I need to create a map of buoys on a surface vehicle and return to the starting position after finishing the parkour. The problem is, using Hector SLAM only, both the ...
sivhaslee's user avatar
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47 views

robot_localization EKF covariance exploding with absolute pose input

Firstly, I have had a look at other questions targeted around exploding covariances, yet I still cannot figure out what is wrong with my setup. I have multiple static cameras that detect a moving AR ...
b0xermatt's user avatar
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1 answer
58 views

Robot localisation ROS2 outputs NaN, but covariance matrix looks good

I am trying to use this package: https://github.com/cra-ros-pkg/robot_localization to fuse Odometry and Imu for a mobile robot, in ros2 humble. here my .yaml file ...
DRakovitis's user avatar
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1 answer
40 views

robot_localization for a drone [closed]

I'm currently programming a drone using Ros2 Humble on a Raspberry Pi and I'm trying to add robot_localisation to it. I only have one IMU (ICM20948) and I want to get as much information as possible ...
Mat Wac's user avatar
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1 answer
47 views

NED ENU transformations robot_localization

I'm working with the robot_localization package to perform sensor fusion between a DVL and USBL for an AUV, in order to compensate drift. Now the ...
JS-FWR's user avatar
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1 answer
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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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1 answer
67 views

What is ENU frame in IMU?

I'm trying to fuse gps and imu data through the robot_localization package. According to the package description, the robot_localization package assumes an ENU frame for IMU data, which I don't ...
hojin sun's user avatar
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1 answer
50 views

when use robot_localization package my robot is glitch

why this error is come when use robot_localization. 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 ...
M.Syarief Rahman's user avatar
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0 answers
7 views

Robot_Localization node output is blowing up when measurements are delayed beyond the update rate

We are fusing odometry output from a number of sources, occasionally they lose track and get delayed. We have set the system to use differential mode so only the velocities are combined and then the ...
MLRhoAero's user avatar
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1 answer
41 views

IMU and Magnetometer Conventions in ROS: Sanity check

I am trying to use a system that integrates one IMU and one Magnetometer for an outdoors vehicle, but I am struggling to fully understand some of the conventions used by ROS. I would like for this to ...
TotallyNormalHuman's user avatar
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1 answer
85 views

Odometry with robot_localization using GPS and Imu, not encoders

I'm working with a mobile robot with GPS and IMU and I need to get the odometry without encoders so I'm trying to tune the robot_localization pkg for Ros2 Humble using dual ekf and navsat_transform. I'...
new_tech_liv's user avatar
1 vote
0 answers
25 views

localization in pivot turn

I have a question about position estimation when a robot performs pivot turn. In pivot turn, it is ideal for only the robot's yaw angle to change, while the x and y positions remain constant. But, I ...
mamoru's user avatar
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1 vote
0 answers
21 views

AMCL not updating the map - odom tf when robot navigating

Hello Im trying to autonomously navigate a robot using ros. I have created a launch file to start the navigation stack for the robot Here is my launch file for the robot. ...
Dinoj's user avatar
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0 answers
40 views

Robot_localization - GPS heading problem

I hope someone can help me I'm using robot_localization to improve my location estimation using the following ekf nodes ekf_node_odom: odometry + IMU ekf_node_map: odometry + IMU + GPS the first ...
Supermax182's user avatar
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2 answers
51 views

/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 ...
Akshay's user avatar
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1 answer
58 views

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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1 answer
81 views

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
0 votes
1 answer
25 views

Further clarification on marginalization

I was re-reading a prior answer about marginalization along with some documents, Marginalization vs Dropping states for sliding window VO My understanding is as follows: After convergence of the ...
FourierFlux's user avatar
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0 answers
38 views

robot_localization performance with two IMU+GPS combinations

I use the same config file to compare the performance of two different IMU+GPS fusion for the same experiments. The performance of one pair of the IMU+GPS sensor fusion performs great when ...
Ishaan Mahajan's user avatar
0 votes
1 answer
114 views

Robot_Localization Local/Global ekf nodes

I have a doubt regarding the use of Robot_localization. I was watching this tutorial: https://navigation.ros.org/tutorials/docs/navigation2_with_gps.html in my case I have a real robot (equipped with ...
Supermax182's user avatar
0 votes
1 answer
60 views

robot_localization package not subscribing to the wheel encoder topics or imu topics

I am building a mobile robot and I currently have wheel encoders publishing on a /odometry topic and an imu publishing on a /imu/data topic attached are the outputs of a topic echo for both can anyone ...
Charlie's user avatar
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0 answers
68 views

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
0 votes
1 answer
120 views

How to use wheel odometry for mapping with SLAM Toolbox

I am currently trying to do mapping with a mobile robot using SLAM Toolbox, I have the odometry setup from the wheel encoders and an IMU, however I noted the SLAM toolbox node isn't subscribed to the <...
Diego Carvajal's user avatar
0 votes
1 answer
136 views

Erratic Robot Movement in RViz2 with Nav2: Back and Forth Motion and Small Jumps

I'm encountering a peculiar issue with robot movement in RViz2 using Nav2, where the robot exhibits erratic back-and-forth movements accompanied by small jumps during the simulation. This behavior is ...
Marcus Vinicius's user avatar
0 votes
1 answer
74 views

how can I reset robot localization in runtime

I'm using ros2 iron and robot_localization with dual EKF and navsat on an outdoor rover. After some time of working I would like to reset the filter as if I turn it off and re-launch it. Is there a ...
Leonardo Garberoglio's user avatar
0 votes
1 answer
11 views

Is there a way to leverage a custom inertial model for the robot_localization state estimation EKF?

I have a model I evaluated that better models the state of the system my EKF is tracking than the out-of-the-box model provided by robot_localization. Is there a way to just swap out the inertial ...
Joe Tekk's user avatar
0 votes
1 answer
53 views

Rviz Tf breaks when I change fixed frame to odom frame

how are you all doing? I've been trying to use the ros humble robot_localization package to estimate my robot's pose using odometry and imu data. The thing is, when the fixed frame is the ...
amsantos's user avatar
0 votes
1 answer
184 views

EKF localization node in robot_localization package doesn't stop

I'm working on building a good Odometry estimation system for a quadruped Unitree robot (A1 and Go1). I've been trying to use ekf_localization node from the robot_localization package in ROS Melodic. ...
Deepak's user avatar
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0 votes
2 answers
77 views

Robot not moving to the goal - diff_drive_controller 4wheel bot

I am trying to implement the navigation and reaching the goal by the 4_wheel_bot, you can find the files in this github page. I tried the diff_drive_controller by ...
Vasanth's user avatar
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0 votes
1 answer
101 views

problems trying to use navsat_transform into robot_localization ekf_node

I'm using robot_localization from binary in foxy. I have an IMU, a magnetometer, wheel encoders and a GPS. I'm trying to integrate all of them into one odom message. I've already done that in the past ...
Leonardo Garberoglio's user avatar
0 votes
1 answer
55 views

How to fuse orientation from two IMUs in Robot Localization?

I'm working with a setup that includes a 9-axis IMU0 providing absolute orientation with respect to north and a 6-axis IMU1. Upon power-on, the 9-axis IMU0 shows a value relative to north, while the 6-...
Anu Narayan R's user avatar
0 votes
1 answer
25 views

Just a general question about localization and degree of freedom

I am currently utilizing a localization library built for ros. As my robot does not have capability to move like quad-copter in 3D space it gave me an idea about limiting its localization to 2D space. ...
Hyun's user avatar
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0 votes
1 answer
110 views

The NavSat_transform_node publish topic(/odometry/gps) but no msgs received

I am trying to fuse IMU(mpu6050) and gps(Neo7m) modules. I used madgwick filter from imu_tools package for imu. I have a problem with navsat_transform_node that publish the topic (...
Zyme's user avatar
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0 votes
1 answer
98 views

robot_localization no output (using only VO, Compass, and GPS)

I'm using robot_localization (ROS2 Humble on Ubuntu) for a boat integration and want to fuse my LiDAR odometry (ideally to be used more in the harbors etc) with GPS data (ideally to be used on open ...
LucasMS's user avatar
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0 answers
36 views

Configuring Cartographer for Robustness Against the Kidnapped Robot Problem

I'm currently working on a project using the Cartographer SLAM system and have encountered a significant challenge related to the "kidnapped robot problem." For those unfamiliar, this ...
Brian's user avatar
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0 answers
101 views

Can robot_localization package work well with just an IMU and a GPS?

Can robot-localization work with IMU and GPS for accurate localization? I have a highly accurate RTK-GPS. Is there a way to create the ekf config file such that the GPS data is used along with the IMU ...
Ishaan Mahajan's user avatar

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