robot_localization是一个ROS的包,基于卡尔曼滤波,对多种传感器进行数据融合,进而完成机器人的定位。近期确实遇到了需要实现更高精度定位的问题,在多方考虑下其中一部分优化方法就是引入了robot-localization库,这个库的引入还是比较简单的,但是实际上的操作方式还是和大家分享一下。 硬件平台 此处硬件平台其实并不局限,这...
源仓库链接:cra-ros-pkg/robot_localization: robot_localization is a package of nonlinear state estimation nodes. The package was developed by Charles River Analytics, Inc. Please ask questions on answers.ros.org. (github.com) (https://github.com/cra-ros-pk...
全局定位系统会相对全局坐标的坐标变换进行更新,以解决里程计的漂移问题。 这个Robot Localization通常用于这种融合。它将采用各种类型的N个传感器,并为TF和话题提供连续平滑的里程计。一个典型的移动机器人装置可能有来自车轮编码器或IMU的里程计以及融合在这个工作区内的视觉。 这样平滑输出就可用于精确运动的航行位置推...
In this tutorial, I will show you how to set up the robot_localization ROS 2 package on a simulated mobile robot. We will use therobot_localization packageto fuse odometry data from the/wheel/odometrytopic with IMU data from the/imu/datatopic to provide locally accurate, smooth odometry esti...
机器人定位(Robot Localization)通常被用于这种融合。它会采用N个各种类型的传感器,并为TF和一个话题提供连续且平滑的里程计。一个典型的移动机器人装置可能具有来自车轮编码器、IMU的里程计以及融合在该范围内的视觉。 这样平滑输出就可用于精确运动的航行位置推算和在全局位置更新之间准确地更新机器人的位置。
robot_localization_node = launch_ros.actions.Node( package='robot_localization', executable='ekf_node', name='ekf_filter_node', output='screen', parameters=[os.path.join(pkg_share, 'config/ekf.yaml'), {'use_sim_time': LaunchConfiguration('use_sim_time')}] ...
[robot_state_publisher-4] Link imu_link had 0 children [robot_state_publisher-4] Link laser_link had 0 children [robot_state_publisher-4] Link wheel_left_link had 0 children [robot_state_publisher-4] Link wheel_right_link had 0 children ...
例如:robot_localization 功能包 这是一个支持研究论文中的实验的功能包。 通过使用卡尔曼滤波器的传感器融合提供 三维定位。 可以组合大量和多种类型的传感器。 实验显示了几种不同组合对定位精度的影响。 具体参考研究论文,多传感器融合,可以显著降低误差。
robot_localization / README.md Latest commit Cannot retrieve latest commit at this time. History History robot_localization is a package of nonlinear state estimation nodes. The package was developed by Charles River Analytics, Inc. Please see documentation here:http://wiki.ros.org/robot_localizatio...
robot_localization_node=launch_ros.actions.Node(package='robot_localization',executable='ekf_node',name='ekf_filter_node',output='screen',parameters=[os.path.join(pkg_share,'config/ekf.yaml'),{'use_sim_time':LaunchConfiguration('use_sim_time')}])returnlaunch.LaunchDescription([launch.actions....