協方差參數的設置

主要確定mpu6050和odom編碼器協方差參數的設置

參考：turtlebot_node協方差的設置

mpu605參數的設置

參考：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參數的設置

參考：

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

有兩組協方差，在底盤運動時，取第一組數據；在底盤靜止時，取第二組數據。

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內容如下

"robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">

from="imu_data" to="imu" />

默認監聽topic: imu_data、odom和vo

發布robot_pose_ekf/odom_combined和坐標系轉換

運行

roslaunch mpu6050_serial_to_imu demo.launch

roslaunch dashgo_bringup robot_pose_ekf.launch

rostopic echo /robot_pose_ekf/odom_combined

問題

imu不生效

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

robot_localization

另外一個： http://wiki.ros.org/robot_localization

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

總結

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