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I also have an EKF that is estimating the robot's velocity. … Normally, the innovation calculation for an EKF looks like this: $$ y_k = z_k - h(x_k) $$ In this case, $h$ would just be the rotation matrix of the rotational offset. …

If I understand you correctly, your robot's wheels are slipping, but you want the EKF to detect that the robot is not moving forward based on the IMU data. … If so, two things: You are making your wheel encoders publish the odom->base_link transform, but your EKF is also publishing that transform. …

It has both an EKF implementation (ekf_localization_node) and a UKF (ukf_localization_node). Feel free to ask questions on the ROS Answers site. …

Your IMU0 configuration is specified incorrectly. You have this: <rosparam param="imu0">[false, false, false, false false, true, false, false, fa …

I haven't tried that exactly, but I have worked with multiple source of heading information using robot_localization. You'd have to make sure your GPS driver (or some other node) converts your GPS he …

You're correct, there is no way to handle this situation currently. The process noise covariance matrix is currently assumed to be static, but there are clearly situations where this isn't ideal. Thi …

However, I'm guessing what you're asking is whether the output estimate error covariance matrices would be the same for the UKF and EKF. … Still tuning Q matrix and hoped that effort would apply to both ekf and ukf. Regards. …

By default, the EKF will not publish these "corrected" states. … You're forcing the EKF to do an update when there should be no need to. Let's focus on your "local" EKF instance first. …

Someone may have a good answer for you, but if it proves too difficult, I recently released the robot_localization package, which contains both an EKF localization node and a UTM transform node. …

If your GPS has an error of 5 meters, then any EKF is going to more heavily weight the odometry measurement. …

Ok, so a few things: I am unable to reproduce the behavior you describe with the latest source (which will hopefully be getting released imminently). The node starts just fine either way and doesn't …

Two things. 1. V-REP publishes TF tree: map->odom->base_link->sparton. I checked tf and it's being made correctly. It is ekf_localization_node's job to publish the odom->base_link transform or the …

It sounds like you have something wrong with your workspaces in general. Try source /opt/ros/kinetic/setup.bash, then run your command. If it works, then your workspace overlay is causing trouble. O …

As far as the EKF output goes, the ROS nav_msgs/Odometry message specifies that the output pose data is in the world frame (header.frame_id in the message) and the velocities are in the body frame (child_frame_id …

The prediction step uses the current state to generate a predicted state. If you have use_control set to true and do NOT have an IMU present, it will use the controls to set the state's acceleration …