地热电缆
(1)数据融合-ROS轮式机器⼈数据融合-GPSRobot Pose EKF节点订阅下⾯的主题:
/odom 2D消息<nav_msgs::Odometry>
/imu_data 3D消息<sensor_msgs::Imu>
/vo 3D消息<nav_msgs::Odometry>
要在⾃⼰的传感器中使⽤EKF,应该将传感器数据发布在这三个主题中,传感器应该发布机器⼈本体坐标系相对世界坐标系的关系。每个传感器可以基于不同的世界坐标系。注意:每个主题只能接受⼀个传感器输⼊,将来的版本可能会增加多个传感器输⼊,当前最普遍的输⼊数据是/vo主题的odometry消息。它包含3D姿态、速度及其协⽅差。所以最适合将⾃主的传感器增加在其中。 不锈钢抛光轮2. Building a GPS sensor message构建GPS传感器数据
GPS传感数据是3D⽆朝向信息的数据,GPS传感器发布的数据类似下⾯:
msg.header.stamp = gps_time // time of gps measurement
msg.header.frame_id = base_footprint // the tracked robot frame
msg.pose.pose.position.x = gps_x // x measurement GPS.
msg.pose.pose.position.y = gps_y // y measurement GPS.
msg.pose.pose.position.z = gps_z // z measurement GPS.
msg.ientation.x = 1 // identity quaternion
msg.ientation.y = 0 // identity quaternion
msg.ientation.z = 0 // identity quaternion
msg.ientation.w = 0 // identity quaternion
variance = {
cox_x, 0, 0, 0, 0, 0, // covariance on gps_x
0, cov_y, 0, 0, 0, 0, // covariance on gps_y
感温元件0, 0, cov_z, 0, 0, 0, // covariance on gps_z
0, 0, 0, 99999, 0, 0, // large covariance on rot x
0, 0, 0, 0, 99999, 0, // large covariance on rot y
0, 0, 0, 0, 0, 99999 } // large covariance on rot z
狭基线纹香茶菜2.1 使⽤GPS驱动器发布NavSatFix
<node name="gps_conv" pkg="gps_common" type="utm_odometry_node">
<remap from="odom" to="vo"/>
<remap from="fix" to="/gps/fix" />
<param name="rot_covariance" value="99999" />
<param name="frame_id" value="base_footprint" />
</node>
映射主题名称
GPS传感器发布gps_meas主题,EKF节点希望处理的是 odom主题的odometry消息,为了连接GPS传感器与EKF节点,我们将vo映射到gps_meas上,因此在launch⽂件中增加下⾯的数据:
<remap from="vo" to="gps_meas" />
>模板支撑体系