06. Robot Pose EKF Package

EKF package:

Access this link and go through the robot_pose_ekf documentation.

Install the package:

$ cd /home/workspace/catkin_ws/src/
$ git clone https://github.com/udacity/robot_pose_ekf 

Quiz:

Quiz Solution:

Here are the steps to edit and launch the ros_pose_ekf launch file:

First, edit robot_pose_ekf.launch file:

<launch>

<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
  <param name="output_frame" value="odom_combined"/>
  <param name="base_footprint_frame" value="base_footprint"/>
  <param name="freq" value="30.0"/>
  <param name="sensor_timeout" value="1.0"/>  
  <param name="odom_used" value="true"/>
  <param name="imu_used" value="true"/>
  <param name="vo_used" value="false"/>

  <remap from="imu_data" to="/mobile_base/sensors/imu_data" />    

</node>

</launch>

Now, build the package:

$ cd /home/workspace/catkin_ws
$ catkin_make
$ source devel/setup.bash

Launch the node:

$ roslaunch robot_pose_ekf robot_pose_ekf.launch

Now, topics from the robot and ekf nodes should be communicating. To confirm that, run the rqt graph . In rqt graph , visualize how the topics and nodes are connected. In the active nodes and topic , you won’t be able to see the 3D filtered pose topic since we haven’t yet subscribed to it.

Visualize the topics:

$ rosrun rqt_graph rqt_graph