# Questions tagged [odometry]

Odometry is the use of data from moving sensors to estimate change in position over time.

105 questions
Filter by
Sorted by
Tagged with
8 views

### odom frame behaves mischievously in rviz when Configuring Robot Localization with error message TF_OLD_DATA

I am trying to learn ros2 nav2 localization link but when I add the ekf.yaml to launch description rviz behaves mischievously to be specific: odom frame moves in rviz randomly and this is the error ...
• 1
7 views

### Predicting pose for 2D Gridmap SLAM using Lidar and Odometry data with a particle filer

I am trying to implement a particle filter to 2D SLAM benchmarking datasets (lidar and odometry data). I have read a few papers on the topic but I think they made me even more confused. The format of ...
9 views

### Resetting Turtlebot3 odometery to zero without rebooting it [ROS2 Foxy- Turtlebot3]

I am using a Turtlebot3 with an Raspberry Pi 3B+ for my masters degree project, running ROS2 Foxy. I am finding it rather difficult to restart the robot every time I need the odometery to be reset to ...
1 vote
124 views

### How to use a PID controller for different kinematics robots

I implement different drive odometry for a robot. Trying to implement (proportional–integral–derivative controller) PID-based coordinate movements x, y, theta: ...
• 13
1 vote
24 views

### Which are the Euler and Runge-Kutta odometry formulas for a four mecanum wheels omnidirectional robot?

I have a omnidirectional robot with four mecanum wheels and I have computed its linear and angular velocities starting from wheel speeds expressed in ticks. Now, to compute odometry, I have to ...
• 11
41 views

### Difference between odometry and localization wrt determining robot's pose?

AFAIK, localization is used to determine a robot's pose from a given a map and sensor data. I know of statistical localization approaches which use particle filters to determine a robot's location ...
1 vote
529 views

### robot_localization EKF node does not publish on /odometry/filtered (ROS2 Foxy)

I am using ROS2 Foxy and Gazebo 11 in Ubuntu 20.04. I have a URDF description of a mobile robot that uses 4 wheels for mecanum drive. Using the robot_localization package, I am creating an EKF node ...
41 views

### How to get odometry from propeller rotation signals knowing that they can rotate to maximum value?

m trying to get Velocity in order to control underwater swarm ROV. I can use the acceleration and to Euler integration but the error will be accumulated over time. As we are having a swarm (many small ...
• 147
96 views

### How to measure an optical encoder resolution and gear ratio?

I've bought a DC geared motor with an optical encoder. The vendor didn't provide specification. I can read MITSUMI M25N-2R-14 2241 and 25GA-370-12V-330RPM on the motor. There are some pages on the ...
• 101
43 views

### HECTOR SLAM, odometry in a low cost differential drive robot

I'm a noob in robotics trying to evaluate requirements for a low cost differential drive indoor robot. Would highly appreciate comments on the following questions. Given the inaccuracies in the wheel ...
48 views

### Proper implementation of pure_pursuit for ground robots using waypoints

I am trying to understand and implement pure-pursuit waypoint following in 2D map. My questions are: 1. What exactly do I need to record in my waypoint.csv file? To ...
• 21
63 views

### Localization of a mobile robot with odometry using quadrature encoders . Is it feasible?

My goal is to localize a mobile differential drive platform using just quadrature encoders using dead reckoning. The robot will operate indoors and is to execute goal to goal trips through hallways ...
624 views

### How to reset odom positions of robots while setting initial positions of robots in gazebo simulation through launch file

I'm in the process of creating a coordination system for a multi robot system. For that i currently have created a ROS based simulation in gazebo using Rosbot2.0 (Robot physically available as well). ...
1 vote
227 views

### How to actually fuse sensor using Extended Kalman Filter

Background I'm working on 4-omniwheel mobile robot. It have encoder on each wheel and MPU 6050 IMU. The robot positioning suffer a great error because slip, so i try to increase the accuracy of ...
• 609
1 vote
30 views

### Self localization for 3 wheeled omnidirectional robot

I am trying to self localize a 3 wheeled omni directional robots using just motor encoders I followed the odometry method mentioned in equations 5,8,9 of https://bibliotecadigital.ipb.pt/bitstream/...
378 views

### ROS Navigation stack with Omni-wheel robot

I have worked through navigation stack on diff-drive, I'm wondering how to get the stack running on 4 wheeled Omni-wheel robot equipped with Arduino and how to get odometry from 4 wheel encoders It ...
1k views

### How to implement a 4 Mecanum wheel Robot kinematic model Practically in code?

Above is the Kinematic model of a 4 wheeled from https://cdn.intechopen.com/pdfs/465/InTechOmnidirectional_mobile_robot_design_and_implementation.pdf, My question is how to use these kinematic ...
1 vote
1k views

### How to do odometry for 4 mecanum wheeled robot?

I need to do odometry for a 4 mecanum wheeled robot for indoor applications. Is it possible to do it with just wheel encoders and IMU sensors? If possible, how? It will be of great help if someone ...
78 views

### Relying on odometry for 100 meters

I am using 4 mecanum wheeled robot and have recently tested its wheel odometry. It was accurate to about 5-10 cm. How sensible is it to use the wheel odometry for 100 meters after which I have some ...
41 views

### ICP results as command in odometry motion model

im going through the odometry motion model proposed by Thurn in Probabilistic Robotics famous book and i have some questions concerning the kind of command that we can use. I will explain more my ...
26 views

### Is odometry necessary for Vector Field Histogram?

I've read the VFH paper and now reading the VFH+. Odometry does not seem to be necessary, but I'm kind of confused about the grid and how to track how much distance the robot has traveled between ...
70 views

### Kalman Filter for 2d pose

I'm really sorry if this is a dumb question, but I don't have a clue on how to do this. I'm trying to write a kalman filter with a State vector of : {x, y, ẋ, ẏ, ẍ, ÿ } To estimate the 2 dimensional ...
• 21
134 views

### 2D Visual-Inertial Extended Kalman Filter

I am trying to implement an Extended Kalman filtering for combining IMU data and visual odometry in a simple 2D case where I have a robot that that can only accelerate in its local forward direction ...
• 121
1 vote
84 views

### Kalman filter with missing dimension on measurement input

I am exploring the option of using a EKF with my differential drive robot. I do not have any prior experience with kalman filters. The robot that is under consideration has two wheel encoders for ...
• 53
52 views

### Vehicle Odometry Correction Using Lidar Contour Points (Localization)

I am currently working on a project where... Vehicle travels from point A to B GPS trajectory is used as a reference Vehicle odometry (bicycle model without slip angle beta) was used to estimate a ...
46 views

### Motion model and homogeneous transformation issue on a drone

I am trying to develop a EKF-SLAM algorithm for a drone, and I want to estimate its position in the inertial/world reference frame. I have as control variables the linear and angular velocities in the ...
• 13
1 vote
118 views

### Caculate/Specify the covariance matrix for a omniwheel robot

I have an omnidirectional robot (x, y and rotation around z), which I would like to use the SLAM-algorithm from ROS. But the odometry from the robot has a drift, which makes some error. To improve the ...
1 vote
284 views

### Odometry using wheel encoder with no differential drive

I am currently looking for a way to do odometry using wheel encoders, for a car that has no differential drive. The two rear wheel would rotate at the exact same speed. I have been looking everywhere ...
1 vote
57 views

### Problem understanding a paper about visual odometry

I am reading the following paper: SVO: Semi-Direct Visual Odometry for Monocular and Multi-Camera Systems , and I am having some problem understanding some concepts. Before starting I have to say ...
• 449
422 views

### How can I calculate odometry given two poses?

I have the pose at times t - 1 and time t. We are given: that the the new pose, at time t, is $$x_{t - 1} = [0,0,pi/6]$$ $$x_{t} = [0.2,0.1,(11*pi)/60]$$ (Where the vectors are [x, y, theta] with ...
• 41
299 views

### two wheel mobile robot odometry

I am using an encoder to calculate the position and orientation of a mobile robot. The robot has two-wheel and each wheel is attached with an encoder, the result I am getting for my position x,y and ...
119 views

### Fusing IMU sensor with odometry

Would fusing Odometry estimation with IMU sensor increase the accuracy of estimation for planar differential drive robots?
• 139
543 views

I am trying to figure out a more accurate way to calculate the change in the heading of a robot. I have two small omni wheels on either side of the robot facing forward and one on the right side ...
117 views

### SLAM techniques based on contact, odometry and one front camera

Consider a mobile robot provided with a contact sensor that randomly travels in a closed environment, changing direction every time an obstacle is encountered. Is it possible to reconstruct the 2D map ...
• 101
69 views

### Odometry heading and laser scan heading not point to same direction

please help, after so much research still cant find a single solution from google. some say offset, but there is no offset in the configuration. problem: odom direction and laser scan heading didnt ...
• 33
1k views

### /odom topics not matching ERROR

I have an existing ROS workspace which was built in C++. I am trying to implement a node built by The Construct in python which reads distance travelled from the ...
• 21
1k views

### What are wheel ticks and wheel impulses?

I'm tracking the position of a vehicle along a certain trajectory using the Kalman filter and we have odometry data provided to us which gives the x-position of the vehicle, y-position of the vehicle ...
• 31
656 views

### Convert Vehicle coordinates to World coordinates for positioning

I'm tracking the position of a vehicle along a certain trajectory using the Kalman filter and the idea is to check for improvements in position estimation through fusion of data from multiple sensors (...
• 31
112 views

### Robot moves sideways in RVIZ ROS

I'm using robot_localization to fuse odom, imu and gps data on a husky robot. After fusion, the robot now moves forward in gazebo but sideways in rviz. I found this question. But the suggested ...
• 11
34 views

### Sampling from guassian distribution for odometry based motion?

I am trying to generate an odometry based motion model as described in the lectures. I have implemented a C++ version of the code. The issue I am having is that when I try to simulate successive ...
• 71
253 views

### How to publish odometry from 3 wheeled omnidirectional robot?

I'm new to ROS and robotics and I'm trying to implement the ROS navigation stack in a 3 wheeled omnidirectional robot. I already made the map using RTABMap but now I'm stuck in the 'Publishing ...
1 vote
141 views

### How to use a map created with odometry

I'm using ROS Melodic with Gazebo 9 in an Ubuntu 18.04.2 LTS. I'm studying a robotics subject at the university and I have to create a map of a closed room with one obstacle using only odometry. The ...
• 221
2k views

### IMU and encoder fusion

I'm trying to simulate data fusion for a 4-wheeled mobile robot using ekf and am using IMU and wheel encoders as sensors,where IMU measures linear acceleration and angular velocity and encoder ...
1 vote
42 views

### Kalman filter with measurements indirectly determining state

I have a question regarding a 'fundamental' understanding of the Kalman filter. So, for my application I'm trying to estimate state $x = [\theta~\dot{\theta}~\ddot{\theta}]$ of a robot based on ...
• 11
113 views

### Wheeled Mobile Robot State Estimation Model Using Odometry

I have a process model update that follows the form: $$\mathbf{x}_{k|k-1} = \mathbf{x}_{k-1|k-1} + \delta \mathbf{x}_k,$$ where $\mathbf{x}_{k-1|k-1}$ is the posterior estimate from the last ...
• 121
75 views

### Lost on Graph slam's loop cloursure

What is the definition of loop closure in Graph Slam? Ref: Graph Slam The theory of Graph Slam define here but I think there is no hints about loop closure. I give this reference for review ...
• 409
112 views

### Robot localization using sensor fusion (How to model the Extended Kalman Filter)?

I am new to the robotics field and sensor fusion as well. I am trying to localize my robot using the data from my camera and the odometery through extended Kalman filter. I have the data offline, I ...
301 views

### In practical terms, how close is the accuracy of camera-based visual odometry/SLAM methods to lidar-based methods for autonomous car navigation?

Benedict Evans, a general partner at Andreessen Horowitz, claims that “almost all autonomy” projects are using lidar for SLAM, and that not all of them use HD maps. An MIT group is testing self-...
148 views

### GraphSLAM data accumulation problem

I try to implement GraphSLAM from this tutorial, The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures. I have some doubt while studying this paper. I hope people who ...
• 409
1 vote