wheel_odometry #691
wheel_odometry #691
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fixes IntelRealSense#609 Only if the ROS params are set
with equivalent to ros::names::isValidCharInName(char c)
by finding the ROS (static) param in the enum dictionary, which can take values in the min:step:max range (not just 0 <= value < enum_dict.size()). Also remove the check when the option is taken from the sensor, which should always be correct.
so we don't loop with float values.
fix launch files.
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Will odometry also work for robots that undergo significant motion in rough terrain and/or exhibit significant noise in their odometry estimate? Or is there an implicit assumption that the robot is moving on flat ground? I'm thinking about tracked vehicles moving outdoors here. |
| void T265RealsenseNode::odom_in_callback(const nav_msgs::Odometry::ConstPtr& msg) | ||
| { | ||
| ROS_INFO("Got in_odom message"); | ||
| rs2_vector velocity {-(float)(msg->twist.twist.linear.y), |
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No need to apply a coordinate transformation here. The relative transformation between odometry frame and T265 body frame is handled in the calibration.
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I want to keep the calibration.json file in a ROS standard. That is, X-forward, Y-Left and Z-Up.
For that reason it is necessary to convert from ROS coordinate system to T265's.
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@skohlbr I have the same question. Did you find out anything new? |
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@skohlbr, @sadransh, there is no implicit assumption of the robot moving on a flat ground YET if only one component of the 3D velocity measurement vector is provided and the other two are set to zero, these act as pseudo measurements and enforce a "soft" constraint on the instantaneous velocity in these directions to be zero, i.e. that robot is moving on a (smooth) surface and cannot go up/down or left/right. It doesn't necessarily have to be flat and would work when driving on ramps for example or for rotation when driving over bumps. (This is important to keep track of visual features.) |
Integrating robot's odometry into T265.
rs_camera.launch include 2 more parameters that needs to be filled to use this option:
topic_odom_in - which topic to listen to. Only using
twist.twist.linearcalib_odom_file - calibration file. Format is described in merged PR#3462