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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 ...
Mike Ferguson's user avatar
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
rdelgadov's user avatar
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-...
Marcus Vinicius's user avatar
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....
automatom's user avatar
  • 5,602
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 - ...
Akshay's user avatar
  • 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
Nikolai's user avatar
  • 111
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 ...
Marcus Vinicius's user avatar
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 ...
Diego Carvajal's user avatar
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 ...
oKermorgant's user avatar
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 ...
automatom's user avatar
  • 5,602
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 ...
ÁngeLoGa's user avatar
  • 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 ...
hank wu's user avatar
  • 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 ...
automatom's user avatar
  • 5,602
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 ...
Mike973's user avatar
  • 946
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.
Russ76's user avatar
  • 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 ...
arusso's user avatar
  • 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. ...
ÁngeLoGa's user avatar
  • 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 ...
billy's user avatar
  • 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 ...
ASH's user avatar
  • 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 ...
JRTG's user avatar
  • 2,074

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