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Published 20 hours ago • verified publisher icon RoboJackets

Update EVGP Localization

Open Daniel-Martin576 opened this issue 5 years ago • 5 comments

Since apparently we can't use our GPS's RTK capabilities during comp we need to update our localization by adding lidar scan matching and testing how much our map drifts when we remove the RTK capabilities while testing in Gazebo.

We might also need to potentially experiment with vision odometry (rovio or viso2) if there still a large error between our predicted pose and the ground truth even with scan matching.

Daniel-Martin576 avatar Dec 09 '19 21:12 Daniel-Martin576

Is this adding scan matching to the EKF in robot_localization?

JasonGibson274 avatar Dec 10 '19 23:12 JasonGibson274

Yeah, we will be combining all the pose estimations through EKF.

Daniel-Martin576 avatar Dec 11 '19 02:12 Daniel-Martin576

I'm planning to work on this because it seems interesting. I can't assign myself to the issue, but I'll post an update once I have some progress

ebretl avatar Feb 16 '20 20:02 ebretl

Are you planning on adding scan matching or do you have something else in mind?

btdubs avatar Feb 16 '20 20:02 btdubs

Probably just setting up one of these http://wiki.ros.org/laser_scan_matcher

ebretl avatar Feb 16 '20 20:02 ebretl