Help with Robot Localization setup

[baradejoo]

Hi, Im new in driverless car and I am going to setup my autonomous system code with simulator and im stucked at robot localization. Is here someone who can help with that config? I was trying a lot of option but still without any success. Only local odometry works with sensible covariance. Thanks in advance :)

[mateusz-lichota]

Hi Kamil!

I can try to help you with that. Are you using the robot_localization package? If so, what is your current config, and how does the trajectory look like in RVIZ?

[baradejoo]

Im using 3 nodes, navsat, 2x ekf (one for local, second one for global odometry). In navsat its basic official config (with magnetic_declination =0 and yaw_offset also = 0). In Local EKF im fusing /fsds/imu and /fsds/gss/fix (fix because in simulator is message type: geometry_message and ekf wants it to be nav_msgs), in global EKF there is fusion of /fsds/imu and /odometry/gps (output from navsat). If you wanna I can give you access to my private repo (so far there is a mess) :D

[baradejoo]

In Rviz local odom looks good, but in global position covariance increases with every moment of time and without moving the car in simulator, the position seems to backwards

[baradejoo]

Its local odom:

[baradejoo]

gloabl odom:

[baradejoo]

Additionally i see that /fsds/gps data are not available in rqt graph. But by rostopic echo i can see it.

[baradejoo]

Sorry for spam, but I've figured it out. The problem was the message name that robot localization (navsat) subscribes. Its a name: /gps/fix and the simulator publishes /fsds/gps. In reference to documentation of robot localization changing the launcher (by adding ) should works good but it doesn't. The solution is to add to launcher in bridge_ros or creating own node that translates names ;D