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Questions tagged [robot-pose-ekf]

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can not launch node of type [robot_pose_ekf/robot_pose_ekf]: cannot locate node of type [robot_pose_ekf] in package [robot_pose_ekf]

I am running Melodic in Ubuntu 18.04 in a VM. I tried uninstalling and the reinstalling the package from the git (as found in the documentation), but ran into the same error. I was able to build the ...
0 votes
1 answer
55 views

I keep getting this error while running navigation with robot_pose_ekf package

Timed out waiting for transform from base_link to odom to become available before running costmap, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the ...
0 votes
1 answer
38 views

Localization, using robot_localization and robot_pose_ekf

What is the difference between robot_pose_ekf (package) and robot_localization. I have encoder odometry, lidar scan and imu sensor data.... How can we combine these sensor to get better localization ...
0 votes
1 answer
16 views

how install robot-pose-ekf kinetic

Hi how to install the Robot-pose-ekf package in kinetic. An error occurs with the apt-get install command: ...
0 votes
1 answer
7 views

robot_pose_ekf visual odometry

Hi all, I am working on a project which runs SLAM (RTAB map) on an autonomous land rover. The rover is equipped with a real sense D415 camera, a wheel odometry system and Pixhawk. We have been using ...
0 votes
1 answer
14 views

Ros nodes not starting from a launch file

'm trying to create a launch file for starting all the nodes. But for some reason, running the launch file doesn't run the node. The topic in which the node publishes is listed when I run rostopic ...
0 votes
1 answer
17 views

Cannot find node robot_pose_ekf?

I installed robot_pose_ekf according to http://wiki.ros.org/robot_pose_ekf, but when I run the launch file, thisi is the errer I receive ...
0 votes
1 answer
4 views

Localizing on a vertical plane

I am currently working on a mobile robot that is able to drive on a vertical surface. As it is a mobile robot i would like to be able to locate the robot continuously. From what i have gathered the ...
0 votes
1 answer
8 views

A general question about the Kalman filter

In theory of Kalman filters, we should have a model of the system. For example, if we are using the "simple" Kalman filter for a linear system, the algorithm contains the following ...
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1 answer
2 views

autonomy_create driver yaw angle range is [2pi ~ -2pi]?

Hi all I want to compare my odometry yaw angle and imu yaw angle to understand current accuracy of my IMU. From what I get, IMU output is [pi ~ -pi] but the autonomy_create (using irobotcreate2) yaw ...
0 votes
1 answer
3 views

Using an IMU on vertical surface for heading estimation update

My situation: I am working on a robot that is able to drive on a vertical surface using magnet wheels. I am trying to get to robot to navigate autonomously but I only have odometry and an IMU ...
0 votes
1 answer
32 views

robot_pose_ekf and AMCL

Hi! I have my own robot that works on odometry and lidar using AMCL. Everything works perfectly. After that, I decided to use robot_pose_ekf to improve data. I use the MPU6050 sensor and odometry from ...
0 votes
1 answer
8 views

Help migrating from robot_pose_ekf to robot_localization

Hi, I am currently trying to migrate to robot_localization. I am using IMU and odometry data for the ekf_localization_node. When running ekf_localization_node I get a tf error: ...
0 votes
1 answer
5 views

How to set yaw offset in robot_pose_ekf/robot_localization?

Hi, I am planning to use odmetry x,y, yaw as well as imu yaw data in robot_pose_ekf package. Since the imu will start at some yaw value relative to magnetic north? Do I have to programatically set ...
0 votes
1 answer
4 views

navigation stack build errors

I am trying to build the navigation stack from ros-planning/navigation/tree/indigo-devel but am having problems with libraries: ...
0 votes
1 answer
1 view

How do you dynamically set a known position in robot_pose_ekf when you encounter a landmark?

I have a turtlebot running ROS Indigo that I am using to navigate a floorplan. I am using the robot_pose_ekf package for odometry. However, it would be convenient if the the robot used an April tag as ...
0 votes
1 answer
6 views

how to use robot_pose_ekf module to improve odom data and use that to produce better maps

Hello, I am working on building maps of my office ( which is think is around 100 * 100 mts) . I using this tutorial for gmapping. This is the procedure i follow to create the map. I run the robot in ...
0 votes
1 answer
17 views

Why do we fuse Odom, IMU, GPS and other pose messages?

I'm working with navigation stack lately, and I have a indoor location system to get the absolute pose of the robot. As we all know, the odometry is only right for a short time, so I want to correct ...
0 votes
2 answers
9 views

robot_pose_ekf with an external sensor

I am trying to use the robot_pose_ekf package with my system, and am having trouble understanding what my tf tree should look like, and what frame the output of robot_pose_ekf is in. My robot is ...
0 votes
1 answer
8 views

Using robot_pose_ekf in gazebo simulation

Hi everyone, Now, I'm trying to use /robot_pose_ekf to publish the transform from odom -> base_footprint in gazebo simulation. The tf tree tells me that the broadcaster of odom -> base_footprint ...
0 votes
1 answer
6 views

How to let robot_pose_ekf recieve IMU data from gazebo

Hi all, I'm using robot_pose_ekf with gazebo simulator. Now, I've encountered with a problem that the /robot_pose_ekf only takes in /odom while the IMU data is not transferred. To be more detailed, /...
0 votes
1 answer
17 views

Adding an IMU to Turtlebot 1

Hi Everyone, I'm trying to put together a Turtlebot 1 with some old iRobot creates and kinects I have had around my lab. So far, I've been able to make the plates, standoffs, power regulation board, ...
0 votes
1 answer
3 views

How would you add control commands to robot_localization?

How would one go about adding the control input the to extended kalman filter? Normally this is added in the predict phase of the kalman filter as part of the state transition function, x(k+1) = Ax(k)...
0 votes
1 answer
11 views

Is it possible to use the linear velocity from an optical flow sensors along with IMU data (sensor fusion) in the ekf_localization package? How?

Hi. I am using the px4flow optical flow camera module with pixhawk. It outputs linear velocity, i would like to use this somehow in the extended kalman filter in ros. The inputs to the robot_pose_ekf ...
0 votes
1 answer
1 view

Difference between state estimate data and odometry data

I am trying my hand at robot navigation. I am not able to comprehend, the following differences, Difference in the odometry data from sources like wheel or visual and the output generated by state ...
0 votes
1 answer
11 views

Covariance specified for measurement on topic gps is zero

When I tried to integrate gps data(from gps_common package) with robot_pose_ekf the above is the error I am facing.... Can anyone help me?? And even facing this error "filter time older than gps ...
0 votes
2 answers
13 views

Localizing using AR tags and wheel odometry

Hello everyone, My team and I are working on a project where we need to localize our robots using AR tags (ar_track_alvar). Our robots will not always see tags, so we are using wheel odometry to track ...
0 votes
1 answer
2 views

robot_pose_ekf crash when /odom is published

I am trying to use robot_pose_ekf. I publish the result of my wheel odometry to /odom with a message type nav_msgs/Odometry, I also publish to /imu_data but don't use it for now, to ease the debugging ...
0 votes
1 answer
14 views

How to use robot_pose_ekf and other ROS Packages?

Hi there, I am super new to ROS. I have a decent amount of programming experience and have academic coursework under my belt in AI and robotics. I have also worked through the ROS tutorials. That ...
0 votes
1 answer
5 views

robot_pose_ekf is not active

hello ı need to use robot_pose_ekf to publish odom for gmapping. ı see my imu data but still robot_pose_ekf not active. I use static transform publisher imu to base_footprint. what ı should to do for ...
0 votes
3 answers
20 views

robot_pose_ekf and GPS

Hi all, We're porting some of our internal code over to ROS-standard nodes for release, and I've got two questions related to robot_pose_ekf. For background, I have been working primarily from this ...
0 votes
3 answers
13 views

IMU drift causing robot to drift in RVIZ

Hi all, I am using Phidgets Spatial 3/3/3 IMU sensor along with rotary encoders to feed to the robot_pose_ekf. For IMU, I am using phidgets_imu and imu_filter_madgwick to get the ...
0 votes
1 answer
1 view

fovis_ros error

Hi, I'm working with turtlebot and kinect (hydro) in ubuntu 12.04. I integrated the visual odometry (fovis_ros). So I launched turtlebot_bringup minimal.launch to get odom and imu topics and launched ...
0 votes
1 answer
10 views

Using the estimated robot pose from robot_pose_ekf with amcl

Hi all, I am using robot_pose_ekf to fuse data from Wheel encoders and IMU to estimate the 3D pose of the robot. Then, I am using amcl to take care of odometry drift and finally the move_base package ...
0 votes
1 answer
8 views

Sequence of execution of move_base

Hi, I have a mobile robot and would like it to navigate around the building. I already have a map of the building. I am using Wheel Encoders to generate odometry. I am feeding the output of Wheel ...
0 votes
1 answer
7 views

problem with tf tree, robot_pose_ekf, odom_combined

Hello, I've been working with a turtlebot with a kobuki base , i'm trying to use robot_pose_ekf but i found a tf problem, in this case base_footprint will have 2 parents (odom_combined published by ...
0 votes
2 answers
3 views

ROS Answers SE migration: robot_pose_ekf

hello, I'm using turtlebot, distro hydro,i did the stack navigation with odometry, now i want working with odom-combined (robot_pose_ekf), is there anyone who did that, can help me.i didn't know what ...
0 votes
1 answer
38 views

Generating odom message from encoder ticks for robot_pose_ekf

Hi all, I am using robot_pose_ekf to get the estimate of the robot pose and is slightly confused on how to use encoder ticks to generate the odometry message. Till now, I am able to achieve the ...
0 votes
1 answer
4 views

Using 9DOF Sensor Stick EKF

Hi, I am using a 9DOF Sensor Stick https://www.sparkfun.com/products/10724. 9DOF Razor https://www.sparkfun.com/products/10736 has a dedicated controller to compute orientation whereas I am only ...
0 votes
1 answer
6 views

Running robot_pose_ekf and amcl

We are trying to use the Leg Detector package on the Turtlebot to detect people and then send goals to the navigation stack to follow a person. Separately, running leg detection and amcl work fine. ...
0 votes
1 answer
8 views

adding "good" IMU data causes troubles to robot_pose_ekf

Hi, I am using a MMP for navigation and mapping. I got trouble while rotating with move_base and debugged the robot_pose_ekf data. Here are my strange results : when ...
0 votes
1 answer
1 view

fovis covariance matrix

Hello to all, I am using the fovis_ros package to obtain visual odometry. The idea is to use /VO topic (fovis) with the /odom ...
0 votes
1 answer
5 views

simulated GPS covariance and robot_pose_ekf

Hello, I try to add a GPS in simulation of a Husky robot, but the covariance is set to zero by default (for simulated GPS) so the robot_pose_ekf didn't run. I set it manually to 99999.0 like in ...
0 votes
1 answer
28 views

rtabmap odometry source

I have been experimenting with rtabmap_ros lately, and really like the results I am getting. Awesome work Mathieu et al.! First, let me describe my current setup: Setup ROS Indigo/Ubuntu 14.01 ...
0 votes
1 answer
3 views

robot_pose_ekf with only odometry information

Hi rossers ;). My robot delivers only very noisy odometry data. The worst character of that noise are sudden peaks of extremely unlikely data and sudden accelerations. I thought about using some kind ...
0 votes
1 answer
10 views

Does ROS move base require the base controller to give the position information?

I'm reading Publishing Odometry Information over ROS. Does ROS move base require the base controller to give the position information on the Map? Is it mandatory ? I thought move base is able to ...
0 votes
1 answer
15 views

How to configure ekf_localization_node in robot_localization package

How to use ekf node in robot_localization package, I have odom and Imu data check discussion. Is it possible to calculate robot_Pose with out using tf and ...
0 votes
1 answer
1 view

Odometry with RGBDSLAM for mapping white walls

Hi guys! I'm trying to map a room with some white walls spaces (no texture) with turtlebot + kinect, and the problem is that the number of keypoints on it makes the robot lost the reference everytime ...
0 votes
2 answers
2 views

Computing Robot_position of robot using Robot_localization

I am using Robot_localization package for getting robot position. I am using Firebird VI Robot (basic robot) which is not compatible with ROS. But i want to use for getting robot position. What I have ...
0 votes
1 answer
40 views

How to convert from geometry_msgs PoseWithCovariance to nav_msgs Odometry?

I am using package hector_slam to do mapping using Hokuyo laser on a ugv and I would like also to use package robot pose_ekf to get better position estimate from the wheels and laser. I tried ...