3
votes
imu vs imu/data
The message type is the same - it's just a different topic name/namespace. For a robot that only has a single topic carrying IMU data, "imu" might be sufficient. However, many robots end up ...
- 5,897
2
votes
Accepted
Omnidirectional kinematic model in robot_localization's EKF
I forgot that Euler angle rates $\dot{q}$ are of course NOT EQUAL to body angular rates $\omega$.
$$\dot{q} \neq \omega$$
Their relation, given RPY rotation convention, is
$$
\begin{bmatrix}
\dot{\phi}...
- 246
1
vote
Robot_state_publisher don't publish on /tf topic
That error shows that amcl has crashed and is no longer running. That is where I would start your search.
To that end you're not the first to experience this. There's an open bug issue at
https://...
- 24.5k
1
vote
Robot loses proper localization
One number is wrong in the EKF config. Odom1 is configured as another odom0! This won't work right! Got it fixed and things are moving forward.
- 36
1
vote
odom frame keeps moving in ROS GPS robot_localization
Odom should remain fixed at the initial starting point.
This assumption is not correct, as map->odom is allowed to change. You have configured your 2nd instance to publish this update.
An update ...
- 363
1
vote
Accepted
Estimating angular velocity from position
Clarifying the question
The question needs more clarity. For example, you need to explain the positions are of what, with respect to what, resolve in which frame.
Let's assume the positions $P_{t_{1}}$...
- 86
1
vote
Estimating angular velocity from position
You don't
In order to have an angular velocity, you have to be able to show that there is an arc in the trajectory. Representing arcs requires 3 points on the trajectory, and you only have 2. You need ...
- 738
1
vote
How to get from lidar coordinates to gps coordinates
This seems to be a georeferencing problem. Where you have some map (your Lidar map), and want to register it (or align it) with another map (in this case GPS).
I would say, yes. The best solution ...
Ben♦
- 5,825
1
vote
Self localization for 3 wheeled omnidirectional robot
I agree that the paper's notation is a little confusing. I think the confusing part is that they use $K$ for time-step number, and $T$ for delta time. So equation (5) simply says: your new global ...
Ben♦
- 5,825
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