JasonSun623/gnss_imu_odom_ESKF

gnss_imu_odom_ESKF

gnss_imu_odom_ESKF

gnss imu odometry sensor fusion localization by ESKF(output NED pose)

• gnss imu sensor fusion localization by ESKF
• gnss imu odometry sensor fusion localization by ESKF

Environment

OS : Ubuntu MATE with Raspberry pi4(8GB)
ROS : noetic

Input Output(IO)

Input

• nmea messages /nmea_sentence(nmea_msgs/Sentence)
• gps messages /fix(sensor_msgs/NavSatFix)
• imu messages /imu/data(sensor_msgs/Imu)
• odom messages /odom(geometry_msgs/Pose)

Output

• estimatid_pose messages /estimatid_pose(geometry_msgs/Pose)
• estimatid_path messages /estimatid_path(nav_msgs/Path)

Software architecture

• gps trajectory plotter

• imu gnss sensor fusion

• odom imu gnss sensor fusion

nmea_navsat_driver

STEP1 Install nmea_msgs

cd catkin_ws/
cd src/
git clone https://github.com/ros-drivers/nmea_msgs
catkin_make
source ~/catkin_ws/devel/setup.bash

STEP2 Install nmea_navsat_driver

cd catkin_ws/
cd src/
git clone https://github.com/ros-drivers/nmea_navsat_driver
catkin_make
source ~/catkin_ws/devel/setup.bash

STEP3 Install rosbag file

https://epan-utbm.github.io/utbm_robocar_dataset/

utbm_robocar_dataset_20190131_noimage.bag (1.5 GB)

2019-01-31 (Fri, snow) 08:54-09:10 (15'59") 1 × Velodyne / ibeo / SICK / IMU / GPS / Bumblebee XB3 / fisheye

STEP4 rosbag play

Terminal1

cd catkin_ws/
source ~/catkin_ws/devel/setup.bash
roslaunch gnss_imu_odom_ESKF eskf_localization.launch

Terminal 2

rosbag play --clock Downloads/utbm_robocar_dataset_20190131_noimage.bag

Terminal3

cd catkin_ws/
source ~/catkin_ws/devel/setup.bash
rostopic echo /nmea_sentence

Terminal4

cd catkin_ws/
source ~/catkin_ws/devel/setup.bash
rostopic echo /fix

gps_trajectory_plotter

cd catkin_ws/
source ~/catkin_ws/devel/setup.bash
roslaunch gnss_imu_odom_ESKF gps_trajectory_plotter.launch 

result in rviz

eskf_localization

gnss imu sensor fusion

• gnss imu sensor fusion localization by ESKF

cd catkin_ws/
source ~/catkin_ws/devel/setup.bash
roslaunch gnss_imu_odom_ESKF imu_gnss_eskf_localization.launch

result in rviz

• the green path is made by raw GPS
• the blue path is made by ESKF

gnss imu odom sensor fusion

• gnss imu odom sensor fusion localization by ESKF

cd catkin_ws/
source ~/catkin_ws/devel/setup.bash
roslaunch gnss_imu_odom_ESKF odom_imu_gnss_eskf_localization.launch

result in rviz

• the green path is made by raw GPS
• the red path is made by raw Odometry
• the blue path is made by ESKF

problem section with outlier

Todo outlier fix

Tsukuba Challenge Environment

STEP1

roslaunch gnss_imu_odom_ESKF gnss_convert_path.launch 

STEP2

roslaunch gnss_imu_odom_ESKF gnss_path_publish.launch