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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
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Robot_Localization Local/Global ekf nodes

If a node already does the transform between base_link to odom, then you do not need to have two instances of robot_localization. You just configure one instance of EKF to provide the transform ...
Nikolai's user avatar
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robot_localization no output (using only VO, Compass, and GPS)

I use a rosbag with captured data. And something is publishing on /clock? If you have use_sim_time set to true, then something ...
automatom's user avatar
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Renaming odom frame on robot_localization

Can you please provide your full EKF config and a sample message from each sensor input? My guess is that you renamed your EKF odom frame to ...
automatom's user avatar
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UKF position data closely match slam absolute pose regard wheel odometry

Yes, that is what I'd expect to see. Your pose measurements will generally have a stronger effect on your pose estimate than your velocity measurements. This is because the pose measurements from SLAM ...
automatom's user avatar
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Correct use of /set_pose service

I would like to update the state of the filter so that for example, odom and map frames are not created one above the other at the start of a simulation. This expected behaviour in general. Both ...
automatom's user avatar
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High frequency robot-localization output when fusing GNSS + IMU

Without more information (see my comment on your question), my two guesses are: The time stamps on your IMU data and GPS data don't agree. Try setting ...
automatom's user avatar
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Robot Localization does not keep constant trajectory despite rotation-only input with IMU only

IMU-only configuration is not something I would recommend. It would be helpful if you could provide a sample sensor input message as well as a sample EKF output message after the robot has moved for ...
automatom's user avatar
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How to fuse wheel odom and visual odometry in robot_localization?

Given that it's just being used for the odom frame, is there any reason not to fuse your wheel encoder odometry absolutely and turn on ...
automatom's user avatar
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How to use wheel odometry for mapping with SLAM Toolbox

Which mapping algorithm are you using? As I can see, cartographer is subscribing to pose data and to IMU data, then filters them and extrapolate real robot pose in the map. (https://ros2-industrial-...
Branimir Caran's user avatar
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Erratic Robot Movement in RViz2 with Nav2: Back and Forth Motion and Small Jumps

I have fixed this issue using my own custom configuration file based on navsat transform node documentation: ...
Marcus Vinicius's user avatar
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nav2 interactive_waypoint_follower example can not get robot_localization state

The only way to have this fixed is upgrade to ROS2 IRON...and use Ubuntu 22.04 I also had these issues and spent a lot of time trying to fix changing classes, passing args etc. Nothing works. Easier ...
Marcus Vinicius's user avatar

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