robot_pose_ekf 使用说明

协方差参数的设置

主要确定mpu6050和odom编码器协方差参数的设置

参考：turtlebot_node协方差的设置

mpu605参数的设置

参考：https://github.com/Arkapravo/turtlebot/blob/master/turtlebot_node/src/turtlebot_node/gyro.py

self.imu_data.orientation_covariance = [1e6, 0, 0, 0, 1e6, 0, 0, 0, 1e-6]
self.imu_data.angular_velocity_covariance = [1e6, 0, 0, 0, 1e6, 0, 0, 0, 1e-6]
self.imu_data.linear_acceleration_covariance = [-1,0,0,0,0,0,0,0,0]

odom参数的设置

参考：

https://github.com/Arkapravo/turtlebot/blob/master/turtlebot_node/src/turtlebot_node/covariances.py

https://github.com/Arkapravo/turtlebot/blob/master/turtlebot_node/nodes/turtlebot_node.py

有两组协方差，在底盘运动时，取第一组数据；在底盘静止时，取第二组数据。

ODOM_POSE_COVARIANCE = [1e-3, 0, 0, 0, 0, 0,
0, 1e-3, 0, 0, 0, 0,
0, 0, 1e6, 0, 0, 0,
0, 0, 0, 1e6, 0, 0,
0, 0, 0, 0, 1e6, 0,
0, 0, 0, 0, 0, 1e3]
ODOM_POSE_COVARIANCE2 = [1e-9, 0, 0, 0, 0, 0,
0, 1e-3, 1e-9, 0, 0, 0,
0, 0, 1e6, 0, 0, 0,
0, 0, 0, 1e6, 0, 0,
0, 0, 0, 0, 1e6, 0,
0, 0, 0, 0, 0, 1e-9]

ODOM_TWIST_COVARIANCE = [1e-3, 0, 0, 0, 0, 0,
0, 1e-3, 0, 0, 0, 0,
0, 0, 1e6, 0, 0, 0,
0, 0, 0, 1e6, 0, 0,
0, 0, 0, 0, 1e6, 0,
0, 0, 0, 0, 0, 1e3]
ODOM_TWIST_COVARIANCE2 = [1e-9, 0, 0, 0, 0, 0,
0, 1e-3, 1e-9, 0, 0, 0,
0, 0, 1e6, 0, 0, 0,
0, 0, 0, 1e6, 0, 0,
0, 0, 0, 0, 1e6, 0,
0, 0, 0, 0, 0, 1e-9]

if sensor_state.requested_right_velocity == 0 and \
sensor_state.requested_left_velocity == 0 and \
sensor_state.distance == 0:
odom.pose.covariance = ODOM_POSE_COVARIANCE2
odom.twist.covariance = ODOM_TWIST_COVARIANCE2
else:
odom.pose.covariance = ODOM_POSE_COVARIANCE
odom.twist.covariance = ODOM_TWIST_COVARIANCE

配置robot_pose_ekf

robot_pose_ekf.launch内容如下

<launch>

<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
<param name="output_frame" value="odom_combined"/>
<param name="base_footprint_frame" value="base_footprint"/>
<param name="freq" value="30.0"/>
<param name="sensor_timeout" value="1.0"/>
<param name="odom_used" value="true"/>
<param name="imu_used" value="true"/>
<param name="vo_used" value="false"/>

<remap from="imu_data" to="imu" />
</node>

</launch>

默认监听topic:

imu_data

、

odom

和

vo

发布

robot_pose_ekf/odom_combined

和坐标系转换

运行

roslaunch mpu6050_serial_to_imu demo.launch
roslaunch dashgo_bringup  robot_pose_ekf.launch
rostopic echo /robot_pose_ekf/odom_combined

问题

imu不生效

https://chidambaramsethu.wordpress.com/2013/07/15/a-beginners-guide-to-the-the-ros-robot_pose_ekf-package/

robot_localization

另外一个： http://wiki.ros.org/robot_localization

ROSCon 2015 Hamburg: Day 2 - Tom Moore: Working with the robot localization Package