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Patch robot localization frames #251

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Patch robot localization frames #251

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c46bc38
Set the base_link_frame_output param with a rovername prefix in the sim.
darrenchurchill Mar 10, 2019
9d3cf62
Set the base_link_frame_output parameter for the physical rover.
darrenchurchill Mar 10, 2019
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2 changes: 2 additions & 0 deletions launch/swarmie.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@
<param name="imu0" value="/$(arg name)/imu" />
<param name="two_d_mode" value="true" />
<param name="world_frame" value="odom" />
<param name="base_link_frame_output" value="$(arg name)/base_link" />
<param name="frequency" value="10" />

<rosparam param="odom0_config">[false, false, false,
Expand Down Expand Up @@ -80,6 +81,7 @@
<param name="imu0" value="/$(arg name)/imu" />
<param name="two_d_mode" value="true" />
<param name="world_frame" value="map" />
<param name="base_link_frame_output" value="$(arg name)/base_link" />
<param name="frequency" value="10" />

<rosparam param="odom0_config">[true, true, false,
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4 changes: 2 additions & 2 deletions misc/rover_onboard_node_launch.sh
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Expand Up @@ -115,7 +115,7 @@ rosparam set /$HOSTNAME\_ODOM/odom0 /$HOSTNAME/odom
rosparam set /$HOSTNAME\_ODOM/imu0 /$HOSTNAME/imu
rosparam set /$HOSTNAME\_ODOM/odom0_config [false,false,false,false,false,false,true,false,false,false,false,true,false,false,false]
rosparam set /$HOSTNAME\_ODOM/imu0_config [false,false,false,false,false,true,false,false,false,false,false,true,true,false,false]
nohup > logs/$HOSTNAME"_odom_EKF_log.txt" rosrun robot_localization ekf_localization_node _two_d_mode:=true _world_frame:=odom _frequency:=10 __name:=$HOSTNAME\_ODOM /odometry/filtered:=/$HOSTNAME/odom/filtered &
nohup > logs/$HOSTNAME"_odom_EKF_log.txt" rosrun robot_localization ekf_localization_node _two_d_mode:=true _world_frame:=odom _base_link_frame_output:=$HOSTNAME/base_link _frequency:=10 __name:=$HOSTNAME\_ODOM /odometry/filtered:=/$HOSTNAME/odom/filtered &

rosparam set /$HOSTNAME\_MAP/odom0 /$HOSTNAME/odom/navsat
rosparam set /$HOSTNAME\_MAP/odom1 /$HOSTNAME/odom/filtered
Expand Down Expand Up @@ -157,7 +157,7 @@ rosparam set $HOSTNAME\_MAP/process_noise_covariance "[0.005, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.1, 0, /
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.1]"

nohup > logs/$HOSTNAME"_map_EKF_log.txt" rosrun robot_localization ekf_localization_node _two_d_mode:=true _world_frame:=map _frequency:=10 __name:=$HOSTNAME\_MAP /odometry/filtered:=/$HOSTNAME/odom/ekf &
nohup > logs/$HOSTNAME"_map_EKF_log.txt" rosrun robot_localization ekf_localization_node _two_d_mode:=true _world_frame:=map _base_link_frame_output:=$HOSTNAME/base_link _frequency:=10 __name:=$HOSTNAME\_MAP /odometry/filtered:=/$HOSTNAME/odom/ekf &

throttle()
{
Expand Down