track_odometry package

track_odometry

track_odometry node compensates translational slip based on angular slip estimation based on IMU data.

Subscribed topics

/odom_raw (new: odom_raw) [nav_msgs::Odometry]
/imu (new: imu/data) [sensor_msgs::Imu]
~/reset_z (new: reset_odometry_z) [std_msgs::Float32]
/tf

Published topics

/odom (new: odom) [nav_msgs::Odometry]
/tf

Services

Called services

Parameters

"base_link_id" (string, default: std::string(""))
"base_link_projected_id" (string, default: std::string("base_link_projected"))
"z_filter" (double, default: 0.99)
"tf_tolerance" (double, default: 0.01)
"use_kf" (bool, default: true)
"enable_negative_slip" (bool, default: false)
"debug" (bool, default: false)
"sigma_odom" (double, default: 0.005)
"sigma_predict" (double, default: 0.5)
"predict_filter_tc" (double, default: 1.0)

tf_projection

stub