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
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
  • 5,557
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
  • 157
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

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
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
  • 926
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
  • 157
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
  • 1,664

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