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Questions tagged [odometry]

15 questions
5
votes
2 answers

Visual Odometry, Kitti Dataset

I am currently trying to make a stereo visual odometry using Matlab with the KITTI dataset I know the folder 'poses.txt' contains the ground truth poses (trajectory) for the first 11 sequences. Each file xx.txt contains an N x 12 table, where N is…
jasmin
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1 answer

SolvePNP return bad rvec and tvec after some time

I am trying to estimate camera trajectory using stereo camera pair from KITTI dataset. The program uses cv::SolvePNP() at some point and for first 1500 frames it returns quite good results, but after that it goes completely wild. Here's what I'm…
Petar Markovic
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1
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2 answers

Python class has not attribute "x", using odometry data in a action server

I'm struggling making an action server where I have to use the subscribe to odometry data to use it in the action callback. I managed to get the pose data and I know its okay cause I have printed it inside the subscriber callback. My problem is that…
mikel lasa
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1 answer

Create an odometry publisher node in python ros2

I would like to know how to create an odometry publisher node in python ros2 that can publish on the topic nav_msgs/Odometry and TFs (base_link with respect to the Odom frame). Could anyone tell me how to do that?
Sachmk2
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1 answer

Robot not merge with odometry

i am newly working on ros. I got odometry value from two motor, but i cannot merge with odometry value with my robot in rviz. that odometry value keep on moving but my robot idle at one point In rviz. kindly helps to overcome this issue. Thanks…
karthik_havan
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How to evaluate Monocular Visual Odometry results used the KITTI odometry dataset

I am trying to use KITTI open dataset to do Deep Monocular Visual Odometry I tried to use this repo it converts pose to 6DoF using this code def get6DoFPose(self, p): pos = np.array([p[3], p[7], p[11]]) R = np.array([[p[0], p[1], p[2]],…
Essam Goda
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1 answer

how to handle vehicle speed and wheel angle covariance in a kalman filter

When fusing IMU, vehicle speed, and wheel angle, I am having trouble converting vehicle speed and wheel angle covariance to system state covariance. I am using a Kalman filter to fuse the readings from an IMU and a vehicle. IMUs provide linear…
Ahmed Sobhy
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0 answers

Odom not published when using image_transport_plugins

I am new to ROS and working on a four wheel robot driving on differential drive. I am able to visualize everything on Gazebo and display the same on Rviz2. After connecting camera xacro, I can visualize it under gazebo and Rviz2. The issue starts…
Praveen
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ROS topic /odometry disappears

Im fairly new to ROS but I've never seen anything like that happen before. I'm using Raspberry Pi and ROS kinetic. After starting rosserial with: roslaunch rosserial_server serial.launch port:=/dev/ttyACM0 and checking rostopic list this is what I…
Lili Ann
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0
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1 answer

how to create condition using ros odom pose data?

I have a mobile autonomous robot that moves using Ros. My goal is to communicate with rosserial via arduino and subscribe to the odom topic. I would like to put some conditions on the exposure data I received after I became a member of Odom. In…
SuleKayiran
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How to republish odometry in different frame?

have navigation Odometry, but its some how it is not in the robot body frame. The odometry is being published in world frame, so its not correct. So i need to transform it in the robot body frame as that how should be in the correct way. So I tried…
Bob9710
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Implementing Kalman Filter for Vehicle Odometry Correction

I am working on estimating a vehicle position using odometry data. Below is the code that I have written to predict vehicle location with input data of yaw rate, steering wheel angle, and vehicle speed. The code takes in dt (not consistent), updated…
Dong Jae Lee
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0
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2 answers

How to publish odom (nav_msgs/Odometry) from MD49 encoders outputs?

I am using MD49 Motor Drive with its motors https://www.robot-electronics.co.uk/htm/md49tech.htm http://wiki.ros.org/md49_base_controller How to subscribe (encoder_l and encoder_r) from md49_base_controller package and publish (vx , vy ,and vth ) as…
Ahmed Desoky
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Can the model coordinates and image coordinates be the same when using solvepnp?

Currently, I am trying to implement a camera pose tracking system. I have a set of model coordinate points(3D) of the previous frame and the image coordinates(2D) of the current frame. I have also set an identity matrix(4x4) as the initial pose of…
Srinath Rao
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1 answer

Is there a topic or service to know when visual odometry estimation is lost in RTAB-MAP?

I am using rtabmap to estimate odometry from visual slam. When odometry is lost, the rtabmapviz screen becomes red. I am looking for one way to know when I lose odometry in my code e.g. a topic to subscribe or something like that. Thanks for your…
Navid Z
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