Hello I am using Autolabor 2.5 car for SLAM i want to use odm data for localization in ros_localization package.i want fuse the data with intel realsence D435i with his IMU data. Question 1 just add the odom1 in localiztion package data will fuse ?
Question 2 in tf graph camera link and robot link is same parents so it will problem ? or its want be in same be parent and child
thank you in advance
- How to fuse /imu,/odom,rtabmap/odom for localization
- how to robot frame under the camera link, so in rviz both fream (camera_link and robot will be same one )
<include file="$(find robot_localization)/launch/ukf_template.launch"/>
<param name="/ukf_se/frequency" value="300"/>
<param name="/ukf_se/base_link_frame" value="camera_link"/>
<param name="/ukf_se/odom0" value="rtabmap/odom"/>
<rosparam param="/ukf_se/odom0_config">[true,true,true,
true,true,true,
true,true,true,
true,true,true,
true,true,true]
</rosparam>
<param name="/ukf_se/odom0_relative" value="true"/>
<param name="/ukf_se/odom0_pose_rejection_threshold" value="10000000"/>
<param name="/ukf_se/odom0_twist_rejection_threshold" value="10000000"/>
<!-- x,y,z is is the robot value -->
<param name="/ukf_se/odom1" value="/odom"/>
<rosparam param="/ukf_se/odom0_config">[true,true,true,
False,False,False,
true,true,true,
False,False,False,
true,true,true]
</rosparam>
<param name="/ukf_se/odom1_relative" value="true"/>
<param name="/ukf_se/odom1_pose_rejection_threshold" value="10000000"/>
<param name="/ukf_se/odom1_twist_rejection_threshold" value="10000000"/>
<param name="/ukf_se/imu0" value="/imu/data"/>
<rosparam param="/ukf_se/imu0_config">[true, true, true,
true, true, true,
true, true, true,
true, true, true,
true, true, true]
<!-- x,y,z is false before edit-22-10-2022 -->
</rosparam>
<param name="/ukf_se/imu0_differential" value="true"/>
<param name="/ukf_se/imu0_relative" value="false"/>
<param name="/ukf_se/use_control" value="false"/>
