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 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
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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
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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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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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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
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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
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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
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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
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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
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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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2 answers
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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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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
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1 answer
28 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
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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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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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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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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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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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nav2 interactive_waypoint_follower example can not get robot_localization state

I am trying to run the Interactive GPS Waypoint Follower. I have launch these instruction: TERMINAL 1: ...
Cristian_wp'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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Diff-drive robot estimation sliding sideways with robot-localization

I'm trying to configure an ekf_filter_node. I started by adding just the odom topic from a ros2_control DiffDriveController in gazebo. For some reason, the robot starts sliding sideways in odom (in ...
Samuel Lindgren's user avatar
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2 answers
73 views

Robot getting spawned at the corner of map

using ubuntu 18.04 melodic i am currently trying to do amcl with my robot with a generated map from gmapping my map now cannot be spawned normally and the robot is alw at the corner , please help me , ...
tim's user avatar
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ROS-Tf-Message too old

an external localization package is performing localization between the map and base_link frames. There is a lidar attached to the laser frame, which is connected to the base_link, and it is also ...
aoz_rob's user avatar
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131 views

Multiple Odometry data for robot_localization package in ros2

I have multiple odometry sensors that is attached to my robot on different parts of the robot. I want to use these odometry values to be fed into the robot_localization package in ros2 humble. I tried ...
A.A. Gde Jenana Putra's user avatar
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35 views

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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2 answers
151 views

Robot localization /odometry/filtered is not displayed

Version: Raspberry Pi 4, Lubuntu20.04, ROS1-noetic I am thinking of estimating the position using robot localization from the IMU. However, I am having trouble because the Topic for /odometry/filtered ...
S.Tomo's user avatar
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Correct use of /set_pose service

I would like to know more about the service provided by the package robot_localization /set_pose. I'm working in ROS Melodic for this task. In my case, I'm running a dual ekf filter, so the local one ...
ÁngeLoGa's user avatar
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1 answer
57 views

How to properly fuse IMU + Barometer + ToF Ranger? (Robot_Localization)

I'm having difficulties getting a good absolute Z height. This is a flying vehicle with no GPS. Currently my ToF sensor pointed down reads 18cm (which is accurate to where my FC/ToF is mounted) but my ...
gregoryw3's user avatar
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Gazebo and Rviz have different velocity when robot_localization package is used

ROS2 Humble, Gazebo Fortress, Gravity in gazebo set to zero. I am trying to fuse IMU and GPS data with robot_localization package. Already went through the following tutorial 1, tutorial 2. I am ...
ASH's user avatar
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robot_localization package position output is the same as input absolute pose

Hello my question is whether this type of output is a proper output? I fuse absolute pose from slam and fuse linear velocity from wheel odometry, but the filter output position data is the same as the ...
ruj's user avatar
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1 answer
62 views

Robot localization (IMU + GPS) position Without GPS

I would like to get the GPS position based on the received GPS and the IMU that is at work (base_link). But I would like GPS to be calculated and when the real GPS disappears, that is, calculations ...
Илья Белянов's user avatar
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1 answer
43 views

Pose matrices and robotics 2D movement

I have a robot starting from the origin. It first turns 90 degrees (yaw), then move to (5,10), then it starts to move along its own negative x direction at each step with a translation of 1. Here is ...
Nick X Tsui's user avatar
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1 answer
52 views

EKF node do not publish imu data but publish odometry. Humble

I'm new using the robot localization package as you will see on my question below: I'm using Humble with a Differential robot with 2 encoders and IMU wheeltec 9dof. I also have a GNSS but I wont ...
Juan Miguel Sequeira Da Silva's user avatar
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61 views

Do i need an odometry input for robot_localization with only IMU data?

I am now working to receive data from an IMU and then publish the transformation for SLAM with Lidar, using the robot_localization package for filter, and i will fuse this IMU with encoder later. I ...
nhuvaynhe's user avatar
1 vote
1 answer
55 views

High frequency robot-localization output when fusing GNSS + IMU

I'm in the process of tuning a robot-localization package parameters in my sensor-fusion ROS2 package. I have a dataset from various sensors mounted on a vehicle (IMU, GNSS, Lidar, Rgb Cameras, Radar, ...
Stanislav Svědiroh's user avatar
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2 answers
170 views

ekf_node doesn't work when use_sim_time is set to True

I have ROS2/Python/Gazebo project, and I use robot localization like this: ...
Steve Brown's user avatar
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1 answer
75 views

Robot Localization does not keep constant trajectory despite rotation-only input with IMU only

I am trying to figure out why the ROS robot localization is giving me weird results from estimating motion for IMU only. It seems that when the robot is moving with constant velocity and a change in ...
user36471's user avatar
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2 answers
158 views

How to fuse wheel odom and visual odometry in robot_localization?

As the title says. I have a question about robot localization. I have a wheel robot and ZED2i camera in ROS2 humble. My TF:robot_localization publish odom to base_link, rtabmap publish map to odom ...
Ting's user avatar
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1 answer
113 views

imu vs imu/data

I use ROS2/Python/Gazebo project. In online examples, I see robot_localization node using (usually in nav2_params.yaml) the "imu/data" as imu source. In the same time, all projects I got ...
Steve Brown's user avatar
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71 views

Rtabmap tf issue with ekf

I am trying to use Rtabmap with filtered odometry from ekf (robot_localization) I used the turtlebot demo, but changed the topics for my robot. It works, the map looks alright, but there is a constant ...
ALNA_Perera's user avatar
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1 answer
100 views

How to set ekf_node in robot_localization?

What I'm currently doing is I'm trying to replace Gazebo 11 with Gazebo garden in this document. However, I ran into a problem when learning robot_localization. First, I try to set ekf_filter_node as ...
Charlie.Ho's user avatar
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47 views

navsat_transform_node imu topic data mapping problem

I ran into the problem of mapping the /imu/data topic of the navsat_transform_node node in the robot_localization package. the node has a very strange behavior - when mapping imu data to the /...
Nastya's user avatar
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1 answer
63 views

Fusing GPS+IMU without heading or odom measurements

I need to fuse GPS+IMU to make a trajectory I can refer to in post processing, hopefully with velocity estimates as well. I was looking into the robot_localization ...
Morten Nissov's user avatar
1 vote
1 answer
125 views

Odometry jumping IMU/GPS fusion robot_localization

I am trying to fuse IMU and GPS with the help of robot_localization pkg. I might also fuse encoder data in the future. I get this weird jumping in odometry in rviz. I get that GPS is published every ...
Corund's user avatar
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Robot Localization pkg / Motion Model prediction step

As I was investigating the transition functions in the prediction step in the ROS Robot Localization pkg (ekf.cpp) . I found for the orientation equations there are as follows: Roll angle is the ...
jf2's user avatar
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33 views

nmea_serial_driver: GPS device is giving same lat/lon reading

background info ros2 - galactic, Cyclone Note: The laptop is disconnect from wifi during testing, just to avoid any problem caused by poor wifi connection outdoor. question I am having a very strange ...
sdu568's user avatar
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2 votes
1 answer
266 views

Frequency Limitation in robot_localization's EKF Node

I'm using version 2.7.4 of the robot_localization package for ROS Noetic. I'm currently utilizing two nodes of the package: EKF Local Node: Fuses data from an IMU (100Hz) and wheel encoders (4Hz). ...
user2454945's user avatar
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1 answer
33 views

Does the package robot_localization need the position transform between sensors?

My robot has a IMU sensor and a GPS.Now I want to use the package robot_localization. How have I published the position transform? For instance,I set the frame_id ...
user avatar
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6 views

What is the purpose of splitting SLAM odom and EKF odom frames in waypoint_nav?

I have a robot somewhat similar to the clearpath husky . In their gmapping launch file, they have their odom frame set to 'odom_gmapping'. config shown here: ...
Chase's user avatar
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[Robot Localization] How to use absolute orientation from IMU with absolut positionning from visual SLAM

Hi, I'm quite new to ROS and robot_localization so I'm getting confused really fast with TFs. I've been using for some time now a visual SLAM algorithm that works fine and I'd like to slowly improve ...
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