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Clarifying robot_localization configuration
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@methylDragon
methylDragon committed Aug 6, 2018
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85 changes: 80 additions & 5 deletions 02 - Global Pose Estimate Fusion (Example Implementation).md
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Expand Up @@ -832,12 +832,19 @@ I'm going to add a single ekf_localization_node in this example. I will not be f

> This is why you'll find that there is no remapping of odom/filtered to odom, since odom/filtered is not published by a map frame EKF node!
I'll be assuming we're using the linorobot stack here! Make a robot_localization.yaml file in there to settle your configurations!
I'll be assuming we're using the linorobot stack here! Make a robot_localization.yaml files in there to settle your configurations! We have one for odometry and one for global pose estimates.

We'll call them **robot_localization_odom** and **robot_localization_map** respectively

```yaml
<!-- Odom-IMU Extended Kalman Filter-->
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_global_pose">
<rosparam command="load" file="$(find linorobot)/param/ekf/robot_localization.yaml" />
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization_odom" clear_params="true">
<rosparam command="load" file="$(find linorobot_ekf)/param/ekf/robot_localization_odom.yaml" />
</node>

<!-- AMCL and Beacon Extended Kalman Filter-->
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization_map" clear_params="true">
<rosparam command="load" file="$(find linorobot_ekf)/param/ekf/robot_localization_map.yaml" />
</node>
```

Expand All @@ -859,6 +866,8 @@ Also note: I left out the imu fusion here because I'm not using it. But if you w
I've also tuned the initial_estimate_covariance and process_noise_covariance. The matrices are **not the default matrices!**
**robot_localization_map.yaml**
```yaml
frequency: 10
two_d_mode: true
Expand Down Expand Up @@ -961,6 +970,72 @@ initial_estimate_covariance: [1e-4, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9]
```
**robot_localization_odom.yaml**

```yaml
frequency: 10

two_d_mode: true

odom0: /odom
odom0_config: [false, false, false,
false, false, false,
true, true, false,
false, false, true,
false, false, false]

odom0_differential: true

imu0: /imu/data
imu0_config: [false, false, false,
false, false, true,
false, false, false,
false, false, true,
false, false, false]

imu0_differential: true
imu0_relative: true

odom_frame: odom
base_link_frame: base_footprint
world_frame: odom
publish_tf: true

process_noise_covariance: [0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015]

initial_estimate_covariance: [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9]
```
### 2.9 Tune the Covariances <a name="2.9"></a>
Expand All @@ -971,7 +1046,7 @@ You'll then wonder how you might configure the covariances for the beacon source
Easy! We'll just set up a static one that we'll tune.
Head over to the hedge_msg_adapter package, and go into the param folder. You should find a covariances.yaml file.
Head over to the hedge_msg_adapter package, and go into the param folder. You should find a covariances.yaml file. **I wrote that message adapter and exposed the covariances as parameters you can easily load using config files** (via rosparam.)
If you read the previous part of the tutorial, this should be pretty self explanatory. To keep things simple, we'll just tune the diagonals.
Expand Down Expand Up @@ -1008,7 +1083,7 @@ pose_covariance: [0.0004, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0.0004]
```
But here's a tuned one that worked better for me!
But **here's a tuned one that worked better for me!**
```yaml
# roll, pitch, yaw
Expand Down

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