This repository implements a data processor for the estimation of the robot pose based on odometric-only data (e.g., wheeled, laser, visual, and/or inertial odometry). The ROS package implemented in this repository makes available nodes that may leverage one and/or multiple sources of odometry data for dead reckoning pose estimation of the robot.
Version 1.4.0
With this version, it is possible to do:
- Wheeled odometry (four-wheeled omnidirectional steering geometry)
- Wheeled odometry (differential and three-wheeled omnidirectional steering geometries)
- Inverse wheeled odometry
- Enable/disable publication of the tf base_frame_id > odom_frame_id
- Limit the maximum angular speed of the wheels and scale the velocities
The next version will add these features:
- Wheeled odometry (tricycle steering geometry)
- Fusion of wheels and inertial odometry data
- Dynamic reconfigure of the nodes parameters
- Additional parameter for covariance (wheeled-inertial odometry fusion)
ROS 1
ROS 2
- rclcpp (ROS 2)
- roscpp (ROS 1)
- geometry_msgs
- nav_msgs
- sdpo_drivers_interfaces
- tf2
- tf2_ros
- base_frame_id (
std::string = "base_footprint"
): tf frame id of the robot base footprint coordinate frame - odom_frame_id (
std::string = "odom"
): tf frame id of the robot odometry coordinate frame - publish_tf (
bool = true
): enable the publication of the tf base_frame_id > odom_frame_id - invert_tf (
bool = false
): enable the invertion of the tf (odom_frame_id > base_frame_id instead of base_frame_id > odom_frame_id) - w_ref_max_enabled (
bool = false
): enable a maximum angular speed for the robot wheels - w_ref_max (
double
): maximum angular speed of the robot wheels - steering_geometry: steering geometry of the mobile robot (rad/s)
(
"diff" | "tricyc" | "omni3" | "omni4"
)- Differential drive
- rob_dist_between_wh (
double
): distance between left-right wheels (m) - wh_right_diam (
double
): right wheel diameter (m) - wh_right_idx (
size_t
): right wheel index in the mot_enc_array.msg (0..1) - wh_right_inv (
bool
): invert positive direction of the right wheel angular motion - wh_left_diam (
double
): left wheel diameter (m) - wh_left_idx (
size_t
): left wheel index in the mot_enc_array.msg (0..1) - wh_left_inv (
bool
): invert positive direction of the left wheel angular motion
- rob_dist_between_wh (
- Tricycle
- TBD
- Three-wheeled omnidirectional robot
- rob_dist_center_wh (
double
): distance between the robot geometric center and the omnidirectional wheels (m) - wh_front_right_diam (
double
): front-right wheel diameter (m) - wh_front_right_idx (
size_t
): front-right wheel index in the mot_enc_array.msg (0..2) - wh_front_right_inv (
bool
): invert positive direction of the front-right wheel angular motion - wh_front_left_diam (
double
): front-left wheel diameter (m) - wh_front_left_idx (
size_t
): front-left wheel index in the mot_enc_array.msg (0..2) - wh_front_left_inv (
bool
): invert positive direction of the front-left wheel angular motion - wh_back_diam (
double
): back wheel diameter (m) - wh_back_idx (
size_t
): back wheel index in the mot_enc_array.msg (0..2) - wh_back_inv (
bool
): invert positive direction of the back wheel angular motion
- rob_dist_center_wh (
- Four-wheeled omnidirectional robot
- rob_dist_between_front_back_wh (
double
): distance between front-back wheels (m) - rob_dist_between_left_right_wh (
double
): distance between left-right wheels (m) - wh_front_left_diam (
double
): front-left wheel diameter (m) - wh_front_left_idx (
size_t
): front-left wheel index in the mot_enc_array.msg (0..3) - wh_front_left_inv (
bool
): invert positive direction of the front-left wheel angular motion - wh_front_right_diam (
double
): front-right wheel diameter (m) - wh_front_right_idx (
size_t
): front-right wheel index in the mot_enc_array.msg (0..3) - wh_front_right_inv (
bool
): invert positive direction of the front-right wheel angular motion - wh_back_left_diam (
double
): back-left wheel diameter (m) - wh_back_left_idx (
size_t
): back-left wheel index in the mot_enc_array.msg (0..3) - wh_back_left_inv (
bool
): invert positive direction of the back-left wheel angular motion - wh_back_right_diam (
double
): back-right wheel diameter (m) - wh_back_right_idx (
size_t
): back-right wheel index in the mot_enc_array.msg (0..3) - wh_back_right_inv (
bool
): invert positive direction of the back-right wheel angular motion
- rob_dist_between_front_back_wh (
- Differential drive
- cmd_vel (
geometry_msgs::Twist.msg
) - motors_enc (
sdpo_drivers_interfaces::MotEncArray.msg
)
- cmd_vel_ref (
geometry_msgs::Twist.msg
) - motors_ref (
sdpo_drivers_interfaces::MotRefArray.msg
) - odom (
nav_msgs::Odometry.msg
) - tf2 (N/A)
- base_frame_id > odom_frame_id
None.
None.
ROS 1
# ROS 1 environment setup
source source /opt/ros/noetic/setup.bash
# Create workspace
mkdir -p ~/ros1_ws/src
# Clone the repository
cd ~/ros1_ws/src
git clone [email protected]:5dpo/5dpo_localization_odom.git
# Build
cd ~/ros1_ws
catkin_make
# OR catkin_make_isolated (more slow, build and check dependencies individually)
# OR catkin build (requires the Pyhton-based catkin tools)
source devel/setup.bash
ROS 2
# ROS 2 environment setup
source /opt/ros/foxy/setup.bash
# Create workspace
mkdir -p ~/ros2_ws/src
# Clone the repository
cd ~/ros2_ws/src
git clone [email protected]:5dpo/5dpo_localization_odom.git
# Build
cd ~/ros2_ws
colcon build
source install/setup.bash
ROS 1
roslaunch sdpo_localization_odom sdpo_localization_odom_wh.launch
ROS 2
ros2 launch sdpo_hangfaq2_driver sdpo_localization_odom_wh.launch.xml
- Faculty of Engineering, University of Porto (FEUP)
- INESC TEC - Institute for Systems and Computer Engineering, Technology and Science
If you have any questions or you want to know more about this work, please contact any member of the 5dpo Robotics Team.