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use robot_localization instead of graft #56

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use robot_localization instead of graft #56

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7fa7b9e
use robot_localization instead of graft
knorth55 Oct 18, 2019
38efb8c
add robot_localization in package.xml
knorth55 Oct 18, 2019
3e25e18
update robot_localization parameters
knorth55 Dec 26, 2019
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27 changes: 27 additions & 0 deletions fetch_bringup/config/robot_localization.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,27 @@
frequency: 50
sensor_timeout: 1.0
two_d_mode: true
publish_tf: true
publish_acceleration: false
map_frame: map
odom_frame: odom
base_link_frame: base_link
# odom
odom0: /odom
odom0_config: [true, true, false,
false, false, true,
true, true, false,
false, false, true,
false, false, false]
odom0_nodelay: true
odom0_differential: true
# imu
imu0: /imu
imu0_config: [false, false, false,
false, false, true,
false, false, false,
false, false, true,
true, false, false]
imu0_nodelay: true
imu0_differential: true
imu0_remove_gravitational_acceleration: true
4 changes: 3 additions & 1 deletion fetch_bringup/launch/fetch.launch
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Expand Up @@ -20,7 +20,9 @@

<!-- Odometry -->
<param name="base_controller/publish_tf" value="false" />
<include file="$(find fetch_bringup)/launch/include/graft.launch.xml" />
<!-- switch to use robot_localization -->
<!-- <include file="$(find fetch_bringup)/launch/include/graft.launch.xml" /> -->
<include file="$(find fetch_bringup)/launch/include/robot_localization.launch.xml" />

<!-- URDF -->
<param name="robot_description" textfile="$(find fetch_description)/robots/fetch.urdf" />
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9 changes: 9 additions & 0 deletions fetch_bringup/launch/include/robot_localization.launch.xml
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@@ -0,0 +1,9 @@
<launch>

<!-- robot localization ukf -->
<node pkg="robot_localization" type="ukf_localization_node" name="ukf_se" clear_params="true">
<remap from="odometry/filtered" to="/odom_combined" />
<rosparam file="$(find fetch_bringup)/config/robot_localization.yaml" command="load" />
</node>

</launch>
1 change: 1 addition & 0 deletions fetch_bringup/package.xml
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Expand Up @@ -26,6 +26,7 @@
<exec_depend>joy</exec_depend>
<exec_depend>openni2_launch</exec_depend>
<exec_depend>ps3joy</exec_depend>
<exec_depend>robot_localization</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend version_gte="0.0.4">sick_tim</exec_depend>
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