dual_ekf_navsat+Turtlebot3 - problem with getting orientation

asked 2022-10-15 22:07:53 -0600

noname

15 ●4 ●6 ●12 https://sites.google.c...

updated 2022-11-08 10:33:48 -0600

Nov 4th update:

https://youtu.be/0kUQZ5qLRQA 30seconds video

Oct 26th update:

Problems: 1. odometry orientation does not changes. 2. warning messages when running dual_ekf_navsat_example.launch

commands that I run on the master (laptop):

roscore

roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/home/yuxiang/Desktop/Robot/empty_map.yaml
roslaunch robot_localization dual_ekf_navsat_example.launch predict_to_current_time_:=true

commands that I run on the turtlebot3 (remote):

roslaunch turtlebot3_bringup turtlebot3_robot.launch
roslaunch ros_imu_bno055 imu.launch serial_port:=/dev/ttyUSB1 operation_mode:=NDOF_FMC_OFF use_magnetometer:=True
rosrun nmea_navsat_driver nmea_serial_driver _port:=/dev/ttyUSB2 _baud:=9600

physical setup: image description rqt_graph tf tree

You could also see the images, more details and a bag file here: https://drive.google.com/drive/folder...

the most recent launch files and yaml file

ekf yaml https://github.com/AutoPlow/TurtleBot...

dual_ekf_navsat_example.launch https://github.com/AutoPlow/TurtleBot...

turtlebot3_navigation.launch https://github.com/AutoPlow/TurtleBot...

I have also modified the turtlebot controller code where I disabled its original IMU: https://github.com/AutoPlow/TurtleBot...

a video that describes the issue: https://www.youtube.com/watch?v=dO-2o...

Your suggestions would be much appreciated!

Thanks,

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yep everything runs locally, ROS version Noetic 1.15.14; From ROSwtf:

Online checks summary:

Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /gazebo:
   * /gazebo/set_link_state
   * /gazebo/set_model_state
 * /rviz:
   * /map_updates
 * /move_base:
   * /move_base/cancel
 * /ekf_se_odom:
   * /set_pose
   * /imu/data
 * /ekf_se_map:
   * /set_pose
   * /imu/data
 * /navsat_transform:
   * /imu/data
   * /fix

WARNING These nodes have died:
 * spawn_urdf-3


Found 1 error(s).

ERROR The following nodes should be connected but aren't:
 * /move_base->/move_base (/move_base/global_costmap/footprint)
 * /move_base->/move_base (/move_base/local_costmap/footprint)

,

noname ( 2022-10-16 10:00:51 -0600 )edit

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dual_ekf_navsat+Turtlebot3 - problem with getting orientation

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