我需要融合GPS,IMU和探测数据,因此我开始测试robot_localization软件包。
我正在发布有效的模拟消息sensor_msgs/imu,以及nav_msgs/odometry for ekf_localization_node的输入,然后我将使用ekf_localization_node和odemetry message的odometry message馈送navsat_transform_node的输入。启动navsat_transform_node时,我将获得以下NAN值:
process[navsat_transform_node-1]: started with pid [29575]
[ WARN] [1431390696.211039510]: MSG to TF: Quaternion Not Properly Normalized
[ INFO] [1431390696.295605608]: Corrected for magnetic declination of 0.183000, user-specified offset of 1.000000, and fixed offset of 1.570796. Transform heading factor is now nan
[ INFO] [1431390696.295816136]: Latest world frame pose is:
Position: (0.000000, 0.000000, 0.000000)
Orientation: (0.000000, -0.000000, 0.000000)
[ INFO] [1431390696.295972831]: World frame->utm transform is
Position: (nan, nan, nan)
Orientation: (nan, -nan, nan)
一些笔记:
- 在这里他们并不总是一样。
- 我已经更改了磁偏偏和偏移值,但是我得到了相同的结果。
- 还更改了启动文件中IMU,Odometry和GPS消息的坐标帧,但收到了相同的错误。
/ODOMETIRE/GPS主题的输出探子图消息是:
pose:
pose:
position:
x: nan
y: nan
z: nan
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
covariance: [nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan]
任何帮助将不胜感激!
如果有人有相同的问题,则完整的IMU模拟消息如下:
#!/usr/bin/env python
import sys
import roslib
import rospy
import math
import numpy as np
from geometry_msgs.msg import Twist, Point
from sensor_msgs.msg import Imu
from std_msgs.msg import Int64
from tf.transformations import quaternion_about_axis
def imu_publisher():
vel_x = 3.0
vel_y = 0.0
vel_theta = 15
imu_pub = rospy.Publisher('/imu_data',Imu)
rospy.init_node("butiaros_imu_publisher",anonymous=True)
rospy.loginfo ("Topic = /imu_data")
x = 0.0
y = 0.0
theta = 0.0
current_time = rospy.get_rostime() #en segundos
last_time = current_time
rate = rospy.Rate(1) #1 hz (1 seg)
i = 0
while not rospy.is_shutdown():
#rospy.loginfo ("Making Odometry message...")
#ROS: Imu
seq = i
imu_msg = Imu()
imu_msg.header.seq = seq
imu_msg.header.stamp = current_time
imu_msg.header.frame_id = "base_link"
# new
imu_msg.orientation.x = 1.0;
imu_msg.orientation.y = 0.0;
imu_msg.orientation.z = 0.0;
imu_msg.orientation.w = 0.0;
# imu_msg.orientation e imu_msg.orientation_covariance
imu_msg.orientation_covariance[0] = -1
# imu_msg.linear_acceleration (m/s2)
imu_msg.linear_acceleration.x = 0.0
imu_msg.linear_acceleration.y = 1.0
imu_msg.linear_acceleration.z = 2.0
p_cov = np.array([0.0]*9).reshape(3,3)
p_cov[0,0] = 0.001
p_cov[1,1] = 0.001
p_cov[2,2] = 0.001
imu_msg.linear_acceleration_covariance = tuple(p_cov.ravel().tolist())
# imu_msg.angular_velocity (rad/sec)
imu_msg.angular_velocity.x = 0.0
imu_msg.angular_velocity.y = 1.0
imu_msg.angular_velocity.z = 2.0
p_cov2 = np.array([0.0]*9).reshape(3,3)
p_cov2[0,0] = 0.001
p_cov2[1,1] = 0.001
p_cov2[2,2] = 0.001
imu_msg.angular_velocity_covariance = tuple(p_cov2.ravel().tolist())
#rospy.loginfo ("Sending Odometry message...")
imu_pub.publish(imu_msg)
i = i + 1
last_time = current_time
current_time = rospy.get_rostime() # in seconds
rate.sleep()
#end_while
#end_def
if __name__ == '__main__':
try:
imu_publisher()
except rospy.ROSInterruptException:
pass