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 theactive 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