X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Frobot_localization.launch;fp=launch%2Frobot_localization.launch;h=683c02108c786d76c4476dfae03686b70adb539c;hp=0000000000000000000000000000000000000000;hb=53c52f19f4cd243c9f5a66780ca365d54820761f;hpb=3708a6b10b4b3b98e1c3422f545dba82948fec5a

diff --git a/launch/robot_localization.launch b/launch/robot_localization.launch
new file mode 100644
index 0000000..683c021
--- /dev/null
+++ b/launch/robot_localization.launch
@@ -0,0 +1,124 @@
+<?xml version="1.0"?>
+
+<!-- Launch file for ekf_localization_node -->
+<launch>
+
+	<!-- This node will take in measurements from odometry, IMU, stamped pose, and stamped twist messages. It tracks
+	 the state of the robot, with the state vector being defined as X position, Y position, Z position,
+	 roll, pitch, yaw, their respective velocites, and linear acceleration. Units for all measurements are assumed
+	 to conform to the SI standard as specified in REP-103. -->
+	<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true" output="screen">
+
+		<!-- ======== STANDARD PARAMETERS ======== -->
+
+		<!-- The frequency, in Hz, at which the filter will output a position estimate. Note that
+		the filter will not begin computation until it receives at least one message from
+		one of the inputs. It will then run continuously at the frequency specified here,
+		regardless of whether it receives more measurements. Defaults to 30 if unspecified. -->
+		<param name="frequency" value="20"/>
+
+		<!-- The period, in seconds, after which we consider a sensor to have timed out. In this event, we
+		   carry out a predict cycle on the EKF without correcting it. This parameter can be thought of
+		   as the minimum frequency with which the filter will generate new output. Defaults to 1 / frequency
+		   if not specified. -->
+		<param name="sensor_timeout" value="2.0"/>
+
+		<!-- If this is set to true, no 3D information will be used in your state estimate. Use this if you
+		   are operating in a planar environment and want to ignore the effect of small variations in the
+		   ground plane that might otherwise be detected by, for example, an IMU. Defaults to false if
+		   unspecified. -->
+		<param name="two_d_mode" value="true"/>
+
+		<!-- REP-105 (http://www.ros.org/reps/rep-0105.html) specifies three principal coordinate frames: map,
+		   odom, and base_link. base_link is the coordinate frame that is affixed to the robot. The robot's
+		   position in the odom frame will drift over time, but is accurate in the short term and should be
+		   continuous. The odom frame is therefore the best frame for executing local motion plans. The map
+		   frame, like the odom frame, is a world-fixed coordinate frame, and while it contains the most
+		   globally accurate position estimate for your robot, it is subject to discrete jumps, e.g., due to
+		   the fusion of GPS data. Here is how to use the following settings:
+		     1. Set the map_frame, odom_frame, and base_link frames to the appropriate frame names for your system.
+			  * If your system does not have a map_frame, just remove it, and make sure "world_frame" is set
+			    to the value of odom_frame.
+		     2. If you are fusing continuous position data such as wheel encoder odometry, visual odometry, or IMU data,
+			set "world_frame" to your odom_frame value. This is the default behavior for robot_localization's state
+			estimation nodes.
+		     3. If you are fusing global absolute position data that is subject to discrete jumps (e.g., GPS or position
+			updates from landmark observations) then:
+			  3a. Set your "world_frame" to your map_frame value
+			  3b. MAKE SURE something else is generating the odom->base_link transform. Note that this can even be
+			      another instance of robot_localization! However, that instance should *not* fuse the global data. -->
+		<!-- Defaults to "map" if unspecified -->
+		<param name="map_frame" value="map"/>
+		<!-- Defaults to "odom" if unspecified -->
+		<param name="odom_frame" value="odom"/>
+		<!-- Defaults to "base_link" if unspecified -->
+		<param name="base_link_frame" value="base_footprint"/>
+		<!-- Defaults to the value of "odom_frame" if unspecified -->
+		<param name="world_frame" value="odom"/>
+
+		<!-- Use this parameter to provide an offset to the transform generated by ekf_localization_node. This
+		   can be used for future dating the transform, which is required for interaction with some other
+		   packages. Defaults to 0.0 if unspecified. -->
+		<param name="transform_time_offset" value="0.0"/>
+
+		<!-- The filter accepts an arbitrary number of inputs from each input message type (Odometry, PoseStamped,
+		   TwistStamped, Imu). To add a new one, simply append the next number in the sequence to its base name,
+		   e.g., odom0, odom1, twist0, twist1, imu0, imu1, imu2, etc. The value should be the topic name. These
+		   parameters obviously have no default values, and must be specified. -->
+		<param name="odom0" value="odom"/>
+		<param name="imu0" value="imu"/>
+		<param name="odom1" value="gps"/>
+
+		<!-- Each sensor reading updates some or all of the filter's state. These options give you greater control over
+		   which values from each measurement are fed to the filter. For example, if you have an odometry message as input,
+		   but only want to use its Z position value, then set the entire vector to false, except for the third entry.
+		   The order of the values is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Note that not some
+		   message types lack certain variables. For example, a TwistWithCovarianceStamped message has no pose information, so
+		   the first six values would be meaningless in that case. Each vector defaults to all false if unspecified, effectively
+		   making this parameter required for each sensor. -->
+		<rosparam param="odom0_config">[true, true, false, false, false, true, true, true, false, false, false, true, true, true, false]</rosparam>
+		<rosparam param="imu0_config">[false, false, false, true, true, true, false, false, false, true, true, true, true, true, true]</rosparam>
+		<rosparam param="odom1_config">[true, true, true, false, false, false, true, true, true, false, false, false, true, true, true]</rosparam>
+
+
+		<!-- The best practice for including new sensors in robot_localization's state estimation nodes is to pass in velocity
+		   measurements and let the nodes integrate them. However, this isn't always feasible, and so the state estimation
+		   nodes support fusion of absolute measurements. If you have more than one sensor providing absolute measurements,
+		   however, you may run into problems if your covariances are not large enough, as the sensors will inevitably
+		   diverge from one another, causing the filter to jump back and forth rapidly. To combat this situation, you can
+		   either increase the covariances for the variables in question, or you can simply set the sensor's differential
+		   parameter to true. When differential mode is enabled, all absolute pose data is converted to velocity data by
+		   differentiating the absolute pose measurements. These velocities are then integrated as usual. NOTE: this only
+		   applies to sensors that provide absolute measurements, so setting differential to true for twit measurements has
+		   no effect.
+
+		   Users should take care when setting this to true for orientation variables: if you have only one source of
+		   absolute orientation data, you should not set the differential parameter to true. This is due to the fact that
+		   integration of velocities leads to slowly increasing error in the absolute (pose) variable. For position variables,
+		   this is acceptable. For orientation variables, it can lead to trouble. Users should make sure that all orientation
+		   variables have at least one source of absolute measurement. -->
+		<param name="odom0_differential" value="true"/>
+		<param name="imu0_differential" value="false"/>
+		<param name="odom1_differential" value="true"/>
+
+		<!-- When the node starts, if this parameter is true, then the first measurement is treated as a "zero point" for all
+		   future measurements. While you can achieve the same effect with the differential paremeter, the key difference is
+		   that the relative parameter doesn't cause the measurement to be converted to a velocity before integrating it. If
+		   you simply want your measurements to start at 0 for a given sensor, set this to true. -->
+		<param name="odom0_relative" value="false"/>
+		<param name="imu0_relative" value="false"/>
+		<param name="odom1_relative" value="false"/>
+
+		<!-- If we're including accelerations in our state estimate, then we'll probably want to remove any acceleration that
+		   is due to gravity for each IMU. If you don't want to, then set this to false. Defaults to false if unspecified. -->
+		<param name="imu0_remove_gravitational_acceleration" value="true"/>
+
+		<!-- If you're having trouble, try setting this to true, and then echo the /diagnostics_agg topic to see
+		   if the node is unhappy with any settings or data. -->
+		<param name="print_diagnostics" value="true"/>
+
+		<remap from="odometry/filtered" to="odom_combined"/>
+
+	</node>
+
+</launch>