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Working With The Package: Robot - Localization

This document discusses the robot_localization package in ROS. It provides state estimation for robots by fusing sensor data like odometry, IMU measurements, and GPS readings. The package includes nodes for extended and unscented Kalman filtering as well as preprocessing nodes. It supports multiple sensor and coordinate frames. Configuring the nodes involves specifying inputs, frames, covariances, and other parameters. The navsat_transform node transforms GPS coordinates to the robot's frame. robot_localization works across a variety of robot platforms.

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62 views

Working With The Package: Robot - Localization

This document discusses the robot_localization package in ROS. It provides state estimation for robots by fusing sensor data like odometry, IMU measurements, and GPS readings. The package includes nodes for extended and unscented Kalman filtering as well as preprocessing nodes. It supports multiple sensor and coordinate frames. Configuring the nodes involves specifying inputs, frames, covariances, and other parameters. The navsat_transform node transforms GPS coordinates to the robot's frame. robot_localization works across a variety of robot platforms.

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Coffee Đen
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© © All Rights Reserved
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Working with the robot_localization Package

Tom Moore
Clearpath Robotics
What is robot_localization?
•  General purpose state estimation package
•  No limit on the number of input data sources
•  Supported message types for state estimation nodes
•  nav_msgs/Odometry
•  geometry_msgs/PoseWithCovarianceStamped
•  geometry_msgs/TwistWithCovarianceStamped
•  sensor_msgs/Imu
•  State vector: [ x y z α β γ x˙ y˙ z˙ α˙ β˙ γ˙ ˙x˙ ]
˙y˙ ˙z˙
•  Two typical use cases
•  Fuse continuous sensor data (e.g., wheel encoder odometry and IMU) to
produce € locally accurate state estimate
•  Fuse continuous data with global pose estimates (e.g., from SLAM) to
provide an accurate and complete global state estimate
Nodes
State estimation nodes
•  ekf_localization_node – Implementation of an extended Kalman filter (EKF)
•  ukf_localization_node – Implementation of an unscented Kalman filter (UKF)

Sensor preprocessing nodes


•  navsat_transform_node – Allows users to easily transform geographic
coordinates (latitude and longitude) into the robot’s world frame (typically
map or odom)  
robot_localization and the ROS
Navigation Stack
amcl  
gmapping  
navsat_transform_node  

GPS  
*kf_localiza,on_node  

IMU  
Wheel  Encoders   *kf_localiza,on_node  
Visual  Odometry  
Barometer  
And  so  much  more!  
Source: http://wiki.ros.org/move_base
Preparing Your Sensor Data: REPs
Fact: you can’t spell “prepare” without REP.

Two important REPs


•  REP-103: http://www.ros.org/reps/rep-0103.html
•  Covers standards for units and basic coordinate frame conventions

•  REP-105: http://www.ros.org/reps/rep-0105.html
•  Covers naming and semantics of the “principal” coordinate frames in ROS
Preparing Your Sensor Data: Transforms

map
ekf_localization_node

pose data odom


ekf_localization_node

twist data* base_link


* and IMU data
Preparing Your Sensor Data: Frame IDs

Requires a
Nobase_link ! imu_link
transforms requiredtransform
Preparing Your Sensor Data: Covariance

initial_estimate_covariance (P0)   process_noise_covariance  


ˆ k| k −1 = f ( x
x ˆ k −1| k −1 )
Pk| k −1 = JPk −1| k −1JT + Q

−1
K k = Pk| k −1HTk (HTk Pk| k −1HTk + R k )
€
ˆ k| k −1 + K k ( z k − H k x
ˆ k| k = x
x ˆ k| k −1 )
T
Pk| k = (I − K k H k )Pk| k −1 (I − K k H k ) + K k R k K Tk
nav_msgs/Odometry
geometry_msgs/PoseWithCovarianceStamped
geometry_msgs/TwistWithCovarianceStamped
€
sensor_msgs/Imu
Configuring *kf_localization_node
Coordinate frame specification
<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"/>
Configuring *kf_localization_node
Input specification
<param name="odom0" value="/controller/odom"/>
<param name="odom1" value="/some/other/odom"/>
<param name="pose0" value="/altitude"/>
<param name="pose1" value="/some/other/pose"/>
<param name="pose2" value="/yet/another/pose"/>
<param name="twist0" value="/optical_flow"/>
<param name="imu0" value="/imu/left"/>
<param name="imu1" value="/imu/right"/>
<param name="imu2" value="/imu/front"/>
<param name="imu3" value="/imu/back"/>
Configuring *kf_localization_node
Basic input configuration
<rosparam param="odom0_config">
[true, true, false, x, y, z  
false, false, false, roll, pitch, yaw  
false, false, false, y velocity, y velocity, z velocity  
false, false, true, roll velocity, pitch velocity, yaw velocity  
false, false, false] x accel., y accel., z accel.  
</rosparam>
<rosparam param="imu0_config">

param="odom1_config">

[true, false,
[false, true, false,
true,
false, true,
true, false, true,
false,
false, false, false,
false, true,
true, false, true,
false,
false, true,
true, false, true]
false]
</rosparam>
<param name="odom1_differential" value="true”>
Configuring *kf_localization_node
Covariance specification (P0 and Q)
<rosparam param="initial_estimate_covariance">
[0.8, 0, ..., 1e-9]
</rosparam>

<rosparam param="process_noise_covariance">
[0.04, 0, ..., 0.02]
</rosparam>
Live Demo
Using navsat_transform_node
What does it do?
•  Many robots operate outdoors and make use of GPS receivers
•  Problem: getting the data into your robot’s world frame
•  Solution:
•  Convert GPS data to UTM coordinates
•  Use initial UTM coordinate, EKF/UKF output, and IMU to generate a
(static) transform T from the UTM grid to your robot’s world frame
•  Transform all future GPS measurements using T
•  Feed output back into EKF/UKF

Required Inputs
•  nav_msgs/Odometry (EKF output, needed for robot’s current pose)
•  sensor_msgs/Imu (must have a compass, needed to determine global heading)
•  sensor_msgs/NavSatFix (output from your navigation satellite device)
Using navsat_transform_node
Relevant settings

<param name="magnetic_declination_radians" value="0"/>


<param name="yaw_offset" value="0"/>
<param name="zero_altitude" value="true"/>
<param name="broadcast_utm_transform" value="true"/>
<param name="publish_filtered_gps" value="true"/>
Using navsat_transform_node
Typical Setup

(Sensor data) *kf_localization_node (map)

/odometry/filtered /odometry/gps
(/nav_msgs/Odometry) (/nav_msgs/Odometry)
/imu/data
(sensor_msgs/Imu)
/gps/fix
(sensor_msgs/NavSatFix) navsat_transform_node

(Sensor data) *kf_localization_node (odom)


robot_localization in the Wild
robot_localization works on a broad range of robots!  

From  this…   …to  this  


(ayrbot)   (OTTO)  
Fin

Thank you!

http://wiki.ros.org/robot_localization
[email protected]

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