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 ...
- 6,037
2
votes
how can I reset robot localization in runtime
You can use the set_pose service to re-localize the robot. If you want more information, you can watch the source code here
About the service the ros2 documentation is very helpfully
- 56
2
votes
Accepted
ICP Localization algorithm for self-driving car
Hi I believe you can use NDT from Autoware Repository.
Autoware.Universe NDT tutorial
Tier IV repo
Customized Autoware's NDT repo
There is a class about how to localize using this algorithm for self-...
- 273
2
votes
GPS and Navsat Transform Node Issues with Magnetic Declination and Yaw Offset in São Paulo, Brazil (Real Robot)
Our IMU yaw rate is obtained from our vehicle's CAN data of yaw rate, and we integrate that value. We don't have a direct IMU source.
Sorry, are you saying that you don't have a magnetometer that ...
- 5,632
2
votes
GPS and Navsat Transform Node Issues with Magnetic Declination and Yaw Offset in São Paulo, Brazil (Real Robot)
[planner_server-9] [INFO] [1719996445.946777994] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Could not find a connection ...
- 51
2
votes
Odometry with robot_localization using GPS and Imu, not encoders
This config/setup will simply not work, I'm afraid.
First, you should read REP-105. The odom frame pose should be continuous, even though it will drift from reality....
- 5,632
1
vote
Robot random jumps with robot_localization
I found the origin of the problem, it was the serial data from the micro controller. sometimes it was sending big random values for encoder counts which let to those big jumps as the position of the ...
- 13
1
vote
Accepted
Publishing / Correcting map -> base_link transform based off detected landmark
One way to do this is to publish the Apriltags transformation to /initialpose topic. The localization will recalculate the position after feeding it this information.
Another way is to use the Kalman ...
1
vote
Accepted
Collision Monitor in Nav2 Not Working Properly: Polygons Not Displayed or Followed Correctly in RViz2
Hi Steve and Chuck helped me to understand this issue: https://github.com/ros-navigation/navigation2/issues/4555
Just replying my own question too make life easier to other users:
1- To visualize both ...
- 273
1
vote
/odometry/filtered output arrow not showing in rviz
I was able to fix the issue, by setting 'use_sim_true' to True in the ekf.launch.py file -
...
- 11
1
vote
Accepted
How to set up 2D pose with IMU and odometry using robot localization ekf?
This is documented very well at robot_localiztion documentation page
- 111
1
vote
localization/orientation issue while running robot localization with navsat transform node for fusing GPS + IMU in rviz visualization
It's not clear what exact questions you have that you'd like to have answered at this point. Looking at your most recent configuration, I spot the following issues:
In your ...
- 5,632
1
vote
Accepted
Sensor fusion with Kalman filter: what should go as "command" in case we have a choice?
First of all, usually the "command" to give to any robot is a publisher geometry_msgs/msg/Twist
geometry_msgs/Vector3 linear
geometry_msgs/Vector3 angular
...
- 205
1
vote
Accepted
Issues Transitioning Navigation2 from Simulation to Real Robot: Missing Costmaps
I successfully resolved issues related to transitioning the Navigation2 stack from simulation to a real robot for costmap generation. The main adjustments involved configuration settings and ensuring ...
- 273
1
vote
Issues Transitioning Navigation2 from Simulation to Real Robot: Missing Costmaps
Let me put everything as an answer instead of comments.
Transform issue
The problem I see is that your robot publishes to the /odom topic but there is no transform ...
- 160
1
vote
How to set base_link in r_l
base_link should be the frame for which you want to get a state estimate, typically the base frame of your robot. It is classically defined in the URDF, with fixed ...
- 589
1
vote
Robot localisation ROS2 outputs NaN, but covariance matrix looks good
Does it go to NaN right away, or does it take some time? Let's look at your config:
two_d_mode: true
This means you want the ...
- 5,632
1
vote
Accepted
What is ENU frame in IMU?
ENU frame is the accronym of East North Up (XYZ). Which means that robot_localization expects your IMU to publish 0 degree rotation when the X axis of your IMU ...
- 172
1
vote
Fusing GPS+IMU without heading or odom measurements
In order for fusing sensor data, they have to be measuring in the same coordinate frame.
navsat_transform_node in ...
- 11
1
vote
Odometry jumping IMU/GPS fusion robot_localization
You need a velocity reference. r_l is not good at working with only pose + acceleration data. It's going to be integrating the acceleration from the IMU and causing ...
- 5,632
1
vote
Accepted
Rviz Tf breaks when I change fixed frame to odom frame
Your /tf timestamp values are not consistent. Most likely you have some nodes with use_sim_time parameter set to true, and other ...
- 976
1
vote
Just a general question about localization and degree of freedom
Yes, the ROS package, Robot Localization, has a setting for 2d, and the roll and pitch are set always at zero. It works fine for a robot on a flat (or mostly flat) surface.
- 54
1
vote
Diff-drive robot estimation sliding sideways with robot-localization
This is the expected behavior.
I thought it would use the fact that the y velocity is zero from the
robot odometry
I think your problem comes from that you're making a confusion here. The y velocity ...
- 11
1
vote
Robot getting spawned at the corner of map
First of all, make sure the Global Frame you are using in RVIZ is map, since you won't be able to set a 2D Pose Estimation if you are not on that frame.
Watching your TF tree, odom frame is missing. ...
- 172
1
vote
Robot getting spawned at the corner of map
Typically you would just use the "2D Pose Estimate" button in RVIZ to locate the robot in the map where it is in reality.
But if you wanted it to spawn in a specific place, just fill in the ...
- 336
1
vote
Accepted
Gazebo and Rviz have different velocity when robot_localization package is used
I found that the simulated IMU in gazebo fortress was already giving me filtered data (imu/data as per imu_filter_madgwick). I thought it would be raw ...
- 21
1
vote
ekf_node doesn't work when use_sim_time is set to True
I think you need to start the ros gazebo bridge:
ros2 run ros_gz_bridge parameter_bridge /clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock
Depending on the Gazebo ...
- 2,139
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