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Fix odom #54

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merged 3 commits into from
May 16, 2024
Merged

Fix odom #54

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2afa5ae
add better fusion with imu
SimonR99 May 15, 2024
c1635ec
remove noisy odom transform
SimonR99 May 15, 2024
24d7712
add navsat conversion and gps
SimonR99 May 15, 2024
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36 changes: 17 additions & 19 deletions src/rove_bringup/launch/common.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -45,23 +45,24 @@ def generate_launch_description():
# used tutorial: https://navigation.ros.org/tutorials/docs/navigation2_with_gps.html

robot_localization_node_local = Node(
package='robot_localization',
executable='ekf_node',
name='ekf_filter_node_local',
output='screen',
parameters=[os.path.join(pkg_rove_slam, 'config/ekf.yaml'),
{'use_sim_time': True}]
)
package='robot_localization',
executable='ekf_node',
name='ekf_filter_node_local',
output='screen',
parameters=[os.path.join(pkg_rove_slam, 'config/ekf.yaml'),
{'use_sim_time': True}],
remappings=[('odometry/filtered', 'odometry/local')])


robot_localization_node_global = Node(
package='robot_localization',
executable='ekf_node',
name='ekf_filter_node_global',
output='screen',
parameters=[os.path.join(pkg_rove_slam, 'config/ekf.yaml'),
{'use_sim_time': True}],
remappings=[("odometry/filtered", "odometry/filtered/global")],
)
package='robot_localization',
executable='ekf_node',
name='ekf_filter_node_global',
output='screen',
parameters=[os.path.join(pkg_rove_slam, 'config/ekf.yaml'),
{'use_sim_time': True}],
remappings=[('odometry/filtered', 'odometry/global')])


navsat_transform = Node(
package="robot_localization",
Expand All @@ -74,10 +75,7 @@ def generate_launch_description():
# Subscribed Topics
("imu/data", "imu"),
("gps/fix", "gps"),
("odometry/filtered", "odometry/filtered/global"),
# Published Topics
("gps/filtered", "gps/filtered"),
("odometry/gps", "odometry/gps"),
('odometry/filtered', 'odometry/global'),
],
)

Expand Down
193 changes: 108 additions & 85 deletions src/rove_description/config/basic.rviz
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,12 +4,9 @@ Panels:
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /RobotModel1
- /TF1/Frames1
- /Map1
- /RobotModel1/Status1
Splitter Ratio: 0.5
Tree Height: 523
Tree Height: 517
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expand Down Expand Up @@ -49,36 +46,66 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_footprint:
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Value: true
flipper_fl:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_scan:
flipper_fr:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
flipper_fl:
flipper_rl:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
flipper_fr:
flipper_rr:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
flipper_rl:
rove_end_effector:
Alpha: 1
Show Axes: false
Show Trail: false
rove_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
flipper_rr:
rove_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rove_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rove_link_4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rove_link_5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rove_link_6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rove_link_base:
Alpha: 1
Show Axes: false
Show Trail: false
Expand All @@ -98,6 +125,16 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
velodyne_laser:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
velodyne_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Mass Properties:
Inertia: false
Mass: false
Expand Down Expand Up @@ -163,11 +200,7 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: false
base_footprint:
Value: true
base_link:
Value: false
base_scan:
Value: true
flipper_fl:
Value: true
Expand All @@ -177,16 +210,36 @@ Visualization Manager:
Value: true
flipper_rr:
Value: true
sensor_link:
Value: true
map:
Value: true
odom:
Value: true
rove_end_effector:
Value: true
rove_link_1:
Value: true
rove_link_2:
Value: true
rove_link_3:
Value: true
rove_link_4:
Value: true
rove_link_5:
Value: true
rove_link_6:
Value: true
rove_link_base:
Value: true
sensor_link:
Value: true
track_l:
Value: true
track_r:
Value: true
velodyne_laser:
Value: true
velodyne_link:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Expand All @@ -195,23 +248,32 @@ Visualization Manager:
Tree:
map:
odom:
base_footprint:
base_link:
base_scan:
{}
flipper_fl:
{}
flipper_fr:
{}
flipper_rl:
{}
flipper_rr:
{}
sensor_link:
{}
track_l:
{}
track_r:
base_link:
flipper_fl:
{}
flipper_fr:
{}
flipper_rl:
{}
flipper_rr:
{}
rove_link_base:
rove_link_1:
rove_link_2:
rove_link_3:
rove_link_4:
rove_link_5:
rove_link_6:
rove_end_effector:
{}
sensor_link:
{}
track_l:
{}
track_r:
{}
velodyne_link:
velodyne_laser:
{}
Update Interval: 0
Value: true
Expand Down Expand Up @@ -281,46 +343,7 @@ Visualization Manager:
Scale: 1
Value: true
Value: false
Enabled: false
Keep: 1
Name: raw odom
Position Tolerance: 0.10000000149011612
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /odom
Value: false
- Angle Tolerance: 0.10000000149011612
Class: rviz_default_plugins/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.30000001192092896
Color: 204; 51; 204
Scale: 1
Value: true
Value: false
Enabled: false
Enabled: true
Keep: 1
Name: filtered position
Position Tolerance: 0.10000000149011612
Expand All @@ -341,7 +364,7 @@ Visualization Manager:
History Policy: Keep Last
Reliability Policy: Reliable
Value: /odometry/filtered
Value: false
Value: true
- Acceleration properties:
Acc. vector alpha: 1
Acc. vector color: 255; 0; 0
Expand Down Expand Up @@ -416,33 +439,33 @@ Visualization Manager:
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 86.56747436523438
Distance: 15.358924865722656
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 11.144978523254395
Y: -2.5526533126831055
Z: -4.807077407836914
X: -0.7862069010734558
Y: 0.829606294631958
Z: -1.3278541564941406
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.1853981018066406
Pitch: 0.900398313999176
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 6.198585033416748
Yaw: 5.728583812713623
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 814
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000015600000294fc020000000afb000000100044006900730070006c006100790073010000003b00000294000000c700fffffffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000002770000011b0000000000000000fb0000000a0049006d006100670065000000003b0000035e0000000000000000000000010000010f0000035efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b0000035e000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000044f0000003efc0100000002fb0000000800540069006d006501000000000000044f0000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000002f30000029400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000015600000290fc020000000afb000000100044006900730070006c006100790073010000003d00000290000000c900fffffffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000002770000011b0000000000000000fb0000000a0049006d006100670065000000003b0000035e0000000000000000000000010000010f0000035efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b0000035e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000044f0000003efc0100000002fb0000000800540069006d006501000000000000044f000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002f30000029000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
Expand All @@ -452,5 +475,5 @@ Window Geometry:
Views:
collapsed: false
Width: 1103
X: 2030
Y: 119
X: 817
Y: 109
5 changes: 3 additions & 2 deletions src/rove_description/config/navsat_transform.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,9 +4,10 @@ navsat_transform:
frequency: 30.0
delay: 3.0
magnetic_declination_radians: 0.0
yaw_offset: 0.0
yaw_offset: pi
zero_altitude: true
broadcast_utm_transform: true
publish_filtered_gps: true
use_odometry_yaw: true
wait_for_datum: false
wait_for_datum: false
broadcast_utm_transform_as_parent_frame: false
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