Questions tagged [robot-localization]
This tag can refer to: - The general subject area of mobile robot localization, i.e., determine the robot's pose with respect to some fixed reference frame - The specific ROS state estimation package, robot_localization
558 questions
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Fusing LiDAR Odometry with GPS navsat_transform and ekf_node
I want to fuse GPS and my own lidar odometry to create a final drift-free odometry. Right now I am confused with some concepts. I have a IMU that reads 0 when facing North. My LiDAR odometry module ...
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EKF Correct Configuration
I'm working on fusing odometry and IMU data for my real robot using data from my camera. The odometry topic publishes at 50 Hz, the IMU at 200 Hz and the EKF is running at 50 Hz. However, I’ve noticed ...
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1 answer
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Lidar is not localizing properly when generating a map in slam also nav2 problems
I am doing group project making an autonomous differential drive robot as a first timer. The robot is fully built and can be controlled with the teleop as expected. Now We are primarily working with ...
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Localization on big environemtns, slam toolbox vs amcl
Both SLAM Toolbox and AMCL in Nav2 offer localization. If I already have a map generated by SLAM Toolbox, which localization solution is more suitable for large industrial environments like warehouses?...
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robot_localization imu system: ENU or NWU?
I'm preparing an IMU for integration with robot_localization, but to me it seems like the docs give conflicting intel on the frame to use. Humble docs say (1): As of this writing, robot_localization ...
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Robot Localization library for VIO and GPS fusion
I am working on fusing GPS data with Visual-Inertial Odometry (VIO) provided by the /zed/odom topic using the robot_localization package. So far, I have set up the navsat_transform_node and verified ...
1 vote
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141 views
How to Use and Calibrate an IMU in ROS 2
I’m trying to fuse wheel odometry and IMU data with the robot_localization EKF node, but my IMU readings look suspicious: The driver publishes zero covariance for ...
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Trying to fuse odom and IMU, for state estimation/ekf_node
I am trying to fuse odometry and Imu, But the problem with the config is that it is relying on odometry for pose. The pose published by odometry/filtered is similar to the odom, So how can I confirm ...
