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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Trying to transform vectors between local and global frames
Here is a function to transform a vector from robot's local frame to global or from global to local (depending on bGlobalToLocal parameter). Here arrRobotOrientation is always in global frame.
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Map odom base link transformation
Hello i am trying to use a RTK GPS device which has in built camera and an IMU sensor. The output is precised odometry data in llh, ecef, enu format after an internal sensor fusion. Is it possible to ...
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Understanding need of orientation in ML based inertial odometry
I was going through following research papers that apply different machine learing approaches to IMU data to predict pose of the target device (mobile or micro aerial vehicle):
[1] GPS-Denied ...
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Can RTK GPS Be Used in Webots Simulation?
Is it possible to use Real-Time Kinematic (RTK) GPS in Webots simulation? I need to implement RTK GPS in Webots as per my supervisor's requirements. From what I’ve gathered, Webots appears to support ...
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How to get position data from acceleration data obtained from an IMU?
I was provided with a .bag file containing a recording in which a regular rectangular path (3m x 1.4m) is performed. My goal is to obtain a 3D plot of the trajectory taken by the IMU from the bag data....
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Robot_localization's EKF module along with slam_toolbox causes jumpy robot odometry with encoder readings from diffDrive_arduino
I've been building a differential drive robot and learning ROS2-Humble for a few months now. Up until now I've succesfully used diffDrive_arduino for encoders, an ld19 lidar and slam_toolbox for ...
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Robot localization | base frame/chassis/base_footprint (whatever) the robot is moving opposite direction camparing to odom
when I move forward and backward base_link frame is moving is moving opposite direction relative to odom frame. what maybe possible cause of this behaviour.
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ROS2 Node Publishing GPS Data Drifts Out of Bounds After Several Seconds
I'm developing a ROS2 node that reads GPS and IMU data from a file and publishes it using various ROS2 topics (e.g., sensor_msgs::msg::NavSatFix, ...
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robot_localization getting nan fusing odometry
I am trying to fuse odometry and imu data with the robot_localization for an omnidirectional robot. I always get the error:
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How to use Nav2 with laser scanner and imu without odom
I want to use Nav2 for robot navigation. The robot that I am using is a skid-steer-tracked robot that does not provide reliable odometry data. I am trying to use the robot_localization package to get ...
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Multi-Camera point cloud fusion
I have 4 intel Realsense D455i and an external IMU and jetson Orin, that is mounted on a rectangular robot frame,
the cameras are mounted to cover all 4 sides of the base as shown in the figure below.
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Robot random jumps with robot_localization
I am working on a 2 wheeled differential drive robot equipped with motors with encoders, IMU and a lidar.
I am using ros2_control with their diff drive controller (which works well) and I also use the ...
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Publishing / Correcting map -> base_link transform based off detected landmark
I am developing a mobile robot using slam_toolbox and the nav2 stack. As a part of nav2, I have created a dock for the robot, using Apriltags to localize the robot wrt the dock. Since I know the exact ...
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Collision Monitor in Nav2 Not Working Properly: Polygons Not Displayed or Followed Correctly in RViz2
I am trying to reproduce this tutorial (binaries-source installation ubuntu 22.04):
demo-execution collision monitor nav121
I'm experiencing a strange issue with the collision_monitor node in the ...
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Correct setup of the URDF and the sensor`s output when using the robot_localization library
I am trying to use the robot_localization library to fuse the pose information from a camera fixed to a wall and an IMU mounted on the robot itself. The robot has a base_link and attached to it are ...
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How to combine ORB-SLAM3 with robot_localization
I'm using robot_localization package to estimate the pose of my robot wrt odom frame. I managed to fuse both data coming from my wheel odometry and IMU.
My robot has a fisheye camera and I have used ...
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GPS and Navsat Transform Node Issues with Magnetic Declination and Yaw Offset in São Paulo, Brazil (Real Robot)
I am working on an autonomous vehicle project in São Paulo, Brazil. As part of the project, I am using the navsat_transform_node from the ROS robot_localization package for integrating GPS data. I ...
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localization/orientation issue while running robot localization with navsat transform node for fusing GPS + IMU in rviz visualization
I'm trying to use the robot localization package with the navsat transform node for gps+imu sensor fusion. My system is Ubuntu 20.04 and ros-noetic. I know this configuration will not produce the best ...
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Dynamic sensor fustion in robot localization
Issue:
I am using Robot Localization with ROS 2 and integrating data from multiple sensors into the Extended Kalman Filter (EKF). My concern is about handling situations where one of the sensors loses ...
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Sensor fusion with Kalman filter: what should go as "command" in case we have a choice?
Let's say I have a robot with few sensors and dif. drive. And I want to perform sensor fusion using UKF.
Dif. drive can take commands, so my first thought was to use command (linear and angular speed) ...
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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 -
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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, ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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, ...
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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 ...
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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
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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 ...
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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 (...
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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 ...
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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 ...
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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
...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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 ...
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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'...
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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 ...
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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.
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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 ...
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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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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 ...
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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....
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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 ...
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