local ekf working (odom -> base_link transform

RoboJackets · Dec 12, 2024 · d30a2f5 · d30a2f5
1 parent 29ed484
commit d30a2f5
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Showing 2 changed files with 24 additions and 20 deletions.
diff --git a/urc_localization/config/ekf.yaml b/urc_localization/config/ekf.yaml
@@ -14,18 +14,18 @@ ekf_filter_node_odom:
     world_frame: odom
 
     imu0: /imu/data
-    imu0_config: [true, true, false,
+    imu0_config: [false, false, false,
                       false, false, true,
-                      true, true, false,
+                      false, false, false,
                       false, false, true,
                       true, true, false]
-    imu0_differential: true
+    imu0_differential: false
     imu0_relative: false
     imu0_queue_size: 10
     imu_remove_gravitational_acceleration: false
 
     odom0: /rover_drivetrain_controller/odom
-    odom0_config: [true, true, false,
+    odom0_config: [false, false, false,
                  false, false, true,
                  true, true, false,
                  false, false, false,
@@ -173,7 +173,7 @@ navsat_transform:
         # Delay time, in seconds, before we calculate the transform from the UTM frame to your world frame.
         delay: 2.0
         magnetic_declination_radians: -0.06736971
-        yaw_offset: 1.57079632679
+        yaw_offset: 0.0
         zero_altitude: true
         broadcast_utm_transform: true
         publish_filtered_gps: true

diff --git a/urc_localization/launch/ekf.launch.py b/urc_localization/launch/ekf.launch.py
@@ -10,7 +10,7 @@
 
 def generate_launch_description():
 
-    ekf_map = launch_ros.actions.Node(
+    ekf_global = launch_ros.actions.Node(
                 package="robot_localization",
                 executable="ekf_node",
                 name="ekf_filter_node_map",
@@ -23,11 +23,11 @@ def generate_launch_description():
                     )
                 ],
                 remappings=[
-                    ("/odometry/filtered","/odometry/filtered_map")
+                    ("/odometry/filtered","/odometry/filtered_global")
                 ],
             )
 
-    ekf_odom = launch_ros.actions.Node(
+    ekf_local = launch_ros.actions.Node(
                 package="robot_localization",
                 executable="ekf_node",
                 name="ekf_filter_node_odom",
@@ -41,7 +41,7 @@ def generate_launch_description():
                 ],
                 remappings=[
 
-                    ("/odometry/filtered","odometry/filtered_twist")
+                    ("/odometry/filtered","odometry/filtered_local")
                 ],
             )
 
@@ -59,22 +59,26 @@ def generate_launch_description():
                 ],
                 remappings=[
                     ("/imu","/imu/data"),
-                    ("/odometry/filtered","/odometry/filtered_twist"),
+                    ("/odometry/filtered","/odometry/filtered_global"),
                     ("/gps/fix","/gps/data")
                 ]
             )
 
     return LaunchDescription(
+        # [
+        #   RegisterEventHandler(
+        #       event_handler = OnProcessStart(
+        #             target_action = navsat,
+        #             on_start=[ekf_map,ekf_odom]
+        #       )
+        #   ),
+        #   #ekf,
+        #   navsat  
+        #     
+        # ]
         [
-          RegisterEventHandler(
-              event_handler = OnProcessStart(
-                    target_action = navsat,
-                    on_start=[ekf_map,ekf_odom]
-
-              )
-          ),
-          #ekf,
-          navsat  
-
+            navsat,
+            ekf_local,
+            ekf_global
         ]
     )