added robot_pose_ekf

diff --git a/cfg/razor.yaml b/cfg/razor.yaml
index 20bffbc832da58a4f65edab4013b5080cea58644..65d6d448d7e899f5358db03bbdcea1d045048a39 100644 (file)
--- a/cfg/razor.yaml
+++ b/cfg/razor.yaml
@@ -23,11 +23,11 @@ magn_z_max: 596
 
 # extended calibration
 calibration_magn_use_extended: true
 
 # extended calibration
 calibration_magn_use_extended: true

-magn_ellipsoid_center: [-32.6801, 82.7799, 142.354]
-magn_ellipsoid_transform: [[0.993252, 0.00616743, -0.00945049], [0.00616743, 0.990730, -0.000356148], [-0.00945049, -0.000356148, 0.964502]]
+magn_ellipsoid_center: [164.907, 212.010, 16.4033]
+magn_ellipsoid_transform: [[0.977989, 0.00268088, 0.0115993], [0.00268088, 0.974660, 0.0151645], [0.0115993, 0.0151645, 0.982901]]

 
 # AHRS to robot calibration
 
 # AHRS to robot calibration

-imu_yaw_calibration: 180.0
+imu_yaw_calibration: 0.0

 
 ### gyroscope
 gyro_average_offset_x: -29.0
 
 ### gyroscope
 gyro_average_offset_x: -29.0

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 42682bff45fc47ccc4804c6f989f031d1a4d0e4a..cc2db13288403c4ff10ddad91d71f42e89644983 100644 (file)
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -13,4 +13,12 @@
        </node>
 
        <node pkg="wild_thumper" type="move_base.py" name="move_base" output="screen" respawn="true" />
        </node>
 
        <node pkg="wild_thumper" type="move_base.py" name="move_base" output="screen" respawn="true" />

+
+       <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen">
+               <remap from="imu_data" to="imu"/>
+               <param name="output_frame" value="odom"/>
+               <param name="freq" value="20.0"/>
+               <param name="vo_used" value="false"/>
+               <param name="debug" value="true"/>
+       </node>

 </launch>
 </launch>

diff --git a/scripts/move_base.py b/scripts/move_base.py
index 0beaf2668801f27a7a66a1a0a54a755b755646bd..c4da5d02fa239c586ca2ecc499693aea7a58bd38 100755 (executable)
--- a/scripts/move_base.py
+++ b/scripts/move_base.py
@@ -18,7 +18,7 @@ class MoveBase:
                rospy.init_node('wild_thumper_move_base')
                rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
                rospy.Subscriber("imu", Imu, self.imuReceived)
                rospy.init_node('wild_thumper_move_base')
                rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
                rospy.Subscriber("imu", Imu, self.imuReceived)

-               self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
+               #self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()

                self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
                self.pub_diag = rospy.Publisher("diagnostics", DiagnosticArray, queue_size=16)
                self.set_speed(0, 0)
                self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
                self.pub_diag = rospy.Publisher("diagnostics", DiagnosticArray, queue_size=16)
                self.set_speed(0, 0)


@@ -119,7 +119,7 @@ class MoveBase:
                odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
 
                # first, we'll publish the transform over tf
                odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
 
                # first, we'll publish the transform over tf

-               self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_link", "odom")
+               #self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_footprint", "odom")

 
                # next, we'll publish the odometry message over ROS
                odom = Odometry()
 
                # next, we'll publish the odometry message over ROS
                odom = Odometry()


@@ -134,12 +134,24 @@ class MoveBase:
                odom.pose.pose.orientation.y = odom_quat[1]
                odom.pose.pose.orientation.z = odom_quat[2]
                odom.pose.pose.orientation.w = odom_quat[3]
                odom.pose.pose.orientation.y = odom_quat[1]
                odom.pose.pose.orientation.z = odom_quat[2]
                odom.pose.pose.orientation.w = odom_quat[3]

+               odom.pose.covariance[0] = 1e-3 # x
+               odom.pose.covariance[7] = 1e-3 # y
+               odom.pose.covariance[14] = 1e-3 # z
+               odom.pose.covariance[21] = 0.1 # rotation about X axis
+               odom.pose.covariance[28] = 0.1 # rotation about Y axis
+               odom.pose.covariance[35] = 0.1 # rotation about Z axis

 
                # set the velocity
 
                # set the velocity

-               odom.child_frame_id = "base_link"
+               odom.child_frame_id = "base_footprint"

                odom.twist.twist.linear.x = speed_trans
                odom.twist.twist.linear.y = 0.0
                odom.twist.twist.angular.z = speed_rot
                odom.twist.twist.linear.x = speed_trans
                odom.twist.twist.linear.y = 0.0
                odom.twist.twist.angular.z = speed_rot

+               odom.twist.covariance[0] = 1e-3 # x
+               odom.twist.covariance[7] = 1e-3 # y
+               odom.twist.covariance[14] = 1e-3 # z
+               odom.twist.covariance[21] = 0.1 # rotation about X axis
+               odom.twist.covariance[28] = 0.1 # rotation about Y axis
+               odom.twist.covariance[35] = 0.1 # rotation about Z axis

 
                # publish the message
                self.pub_odom.publish(odom)
 
                # publish the message
                self.pub_odom.publish(odom)

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index ceb3df3cf66184634c5e3691e3d3bbff7a56e845..c783cffff36792da7c39d78102995dd0bf82f1a5 100644 (file)
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -5,14 +5,48 @@
 
        <link name="base_link">
                <visual>
 
        <link name="base_link">
                <visual>

-                       <origin xyz="0.02 0.165 0.2" rpy="${PI} 0 ${-PI/2}"/>
+                       <origin xyz="0.09 -0.02 0.07" rpy="${PI} 0 ${-PI/2}"/>

                        <geometry>
                                <mesh filename="package://wild_thumper/meshes/wild_thumper_assembly_corrected.stl" scale="0.001 0.001 0.001" />
                        </geometry>
                </visual>
        </link>
 
                        <geometry>
                                <mesh filename="package://wild_thumper/meshes/wild_thumper_assembly_corrected.stl" scale="0.001 0.001 0.001" />
                        </geometry>
                </visual>
        </link>
 

+       <link name="base_footprint">
+               <visual>
+                       <geometry>
+                               <box size="0.28 0.31 0.0"/>
+                       </geometry>
+                       <material name="grey">
+                               <color rgba="0.5 0.5 0.5 0.5"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="base_imu_link">
+               <visual>
+                       <geometry>
+                               <box size="0.041 0.028 0.002"/>
+                       </geometry>
+                       <material name="red">
+                               <color rgba="1 0 0 1"/>
+                       </material>
+               </visual>
+       </link>
+

        <xacro:asus_camera name="camera" parent="base_link">
        <xacro:asus_camera name="camera" parent="base_link">

-               <origin xyz="0 0.19 0.15" rpy="0 0 0"/>
+               <origin xyz="0.107 0.0 0.04" rpy="0 0 0"/>

        </xacro:asus_camera>
        </xacro:asus_camera>

+
+       <joint name="imu_joint" type="fixed">
+               <parent link="base_link"/>
+               <child link="base_imu_link"/>
+               <origin xyz="0.06 -0.03 0.058" rpy="0 0 0"/>
+       </joint>
+
+       <joint name="base_link_joint" type="fixed">
+               <parent link="base_footprint"/>
+               <child link="base_link"/>
+               <origin xyz="0.0 0.0 0.13" rpy="0 0 0"/>
+       </joint>

 </robot>
 </robot>