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Initial odometry and localization working, though position grows without bound. It's a start though.

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Corwin Perren
2018-07-07 13:53:28 -07:00
parent ddd4953495
commit d3a3a561e2
5 changed files with 115 additions and 28 deletions
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3
software/ros_packages/rover_main/launch/rover.launch
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@@ -12,4 +12,7 @@
<include file="$(find rover_main)/launch/rover/topic_transport_senders.launch"/>
<include file="$(find rover_main)/launch/rover/topic_transport_receivers.launch"/>
<!-- ########## Start Odometry Nodes ########## -->
<include file="$(find rover_main)/launch/rover/odometry.launch"/>
</launch>

71
software/ros_packages/rover_main/launch/rover/odometry.launch Normal file
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@@ -0,0 +1,71 @@
<launch>
<!-- https://github.com/vikiboy/AGV_Localization/blob/master/robot_localization/launch/ekf.launch -->
<!-- https://answers.ros.org/question/241222/fusing-imu-gps-with-robot_location-package/ -->
<group ns="odometry">
<!-- ########## Processes GPS and IMU Messages ########## -->
<node name="gps_and_imu" pkg="rover_odometry" type="odometry.py" respawn="true" output="screen" />
<!-- ########## Converts GPS Sentences to GPS Fix data ########## -->
<node name="navsat_driver" pkg="nmea_navsat_driver" type="nmea_topic_driver" output="screen">
<remap from="nmea_sentence" to="gps/sentence"/>
<remap from="fix" to="gps/fix"/>
</node>
<!-- ########## Performs a tranform on the GPS and IMU frames so odom can use it ########## -->
<node pkg="tf" type="static_transform_publisher" name="imu_tf" args="0 0 0 0 0 0 1 base_link imu 20"/>
<node pkg="tf" type="static_transform_publisher" name="gps_tf" args="0 0 0 0 0 0 1 base_link gps 20"/>
<!-- ########## Main Odometry Localization Node ########## -->
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true">
<remap from="/gpx/fix" to="gps/fix"/>
<param name="output_frame" value="odom"/>
<param name="frequency" value="20"/>
<param name="odom_used" value="true"/>
<param name="imu_used" value="true"/>
<param name="vo_used" value="false"/>
<param name="sensor_timeout" value="0.1"/>
<param name="two_d_mode" value="false"/>
<param name="map_frame" value="map"/>
<param name="odom_frame" value="odom"/>
<param name="base_link_frame" value="base_link"/>
<param name="world_frame" value="odom"/>
<param name="odom0" value="gps"/>
<param name="imu0" value="imu/data"/>
<rosparam param="odom0_config">[true, true, true,
false, false, false,
false , false, false,
false, false, false,
false, false, false]</rosparam>
<rosparam param="imu0_config">[false, false, false,
true , true , true,
false, false, false,
true , true , true ,
true , true , true ]</rosparam>
<param name="odom0_differential" value="false"/>
<param name="imu0_differential" value="false"/>
<param name="imu0_remove_gravitational_acceleration" value="true"/>
<param name="odom0_relative" value="false"/>
<param name="imu0_relative" value="false"/>
<param name="print_diagnostics" value="true"/>
<!-- ======== ADVANCED PARAMETERS ======== -->
<param name="odom0_queue_size" value="2"/>
<param name="imu0_queue_size" value="10"/>
</node>
<node name="navsat_transform" pkg="robot_localization" type="navsat_transform_node" output="screen">
<param name="broadcast_utm_transform" value="true"/>
</node>
</group>
</launch>