ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

0

Fusing the gps and imu datas, the z coordinate data is drifted.

asked 2020-10-14 06:36:17 -0600

Ke Guo
1 ●3 ●5 ●3

OS and version (e.g. Ubuntu 18.04)
from source
melodic-devel, HEAD, 9277d98
I used the test1.bag to test the pkg performance and the z coordinate data has drifted as the follow pictures. Can anybody explain why? Here this the launch files and the fused data showed in rviz.

The ekf_template.launch file file

The navsat_transform_template.launch file image image description

image description

image description

edit retag flag offensive close merge delete

2 Answers

Sort by » oldest newest most voted

0

answered 2020-10-14 07:09:56 -0600

Ke Guo
1 ●3 ●5 ●3

<launch> <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" clear_params="true" launch-prefix="xterm -e gdb -ex run --args"> <rosparam command="load" file="$(find robot_localization)/params/navsat_transform_template.yaml"/> <remap from="gps/fix" to="fix_modify"/> </node> </launch>

edit flag offensive delete link

0

answered 2020-10-14 09:01:00 -0600

flag of United States of America

977 ●10 ●76 ●33

First of all, don't launch the static transforms twice, only have those in either the EKF or navsat launch file. Second, I think you need to remap the topics that the EKF expects to the ones that the Bag actually publishes. Confirm that you did that.

And without your configurations files, it is really hard to say anything else.

edit flag offensive delete link

Comments

Oh, I had found the z value in odom0_config params not set to be true.

And how to the static_transform_publisher in the launch file when I have gps(gps) and imu data(imu_link) simultaneously?

pkg="tf2_ros" type="static_transform_publisher" name="bl_imu" args="0 -0.3 0.52 -1.570796327 0 1.570796327 base_link imu_link"

pkg="tf2_ros" type="static_transform_publisher" name="bl_gps" args="0 -0.3 0.52 0.0 0 0.0 base_link gps"

Ke Guo ( 2020-10-14 19:57:27 -0600 )edit

You have those transforms repeated twice in both launch files, you only need it once.

JackB ( 2020-10-14 20:43:40 -0600 )edit

Also consider setting the two_d_mode parameter to true.

JackB ( 2020-10-14 20:44:47 -0600 )edit

Question Tools

2 followers

Stats

Asked: 2020-10-14 06:36:17 -0600

Seen: 120 times

Last updated: Oct 14 '20

Related questions

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.

Powered by Askbot version 0.10.2