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MapIV / eagleye

Precise localization based on GNSS and IMU.
BSD 3-Clause "New" or "Revised" License
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Bad performance on example bag in ros2 #317

Closed yenlunliao closed 9 months ago

yenlunliao commented 10 months ago

Hello, I am working on the eagleye on ros2 branch. I plot the result by Foxglove, but found the localization is not stable.

The result was showed as follow, Purple: localization from gnss Blue: localization from eagleye

Screenshot 2023-12-07 at 9 25 54 AM

The localization is matched perfect initially but having the jump somewhere and misdirection after few seconds. Any Suggestion or idea to fix it, Thanks.

Environment: Ubuntu 20.04/foxy, Ubuntu 20.04/humble Config: eagleye_config.yaml in main-ros2 branch Launch: eagleye_rt.launch.xml in main-ros2 branch Bag: ros2 in https://drive.google.com/drive/folders/1TEaVRn7F6t8PhEfZe59gE_C1B8jZUkJo

rsasaki0109 commented 10 months ago

Sorry, the sample IMU has a pitch of 180 degrees, so please correct the tf. https://github.com/MapIV/eagleye/blob/main-ros2/eagleye_util/tf/launch/tf.launch.xml#L11

yenlunliao commented 9 months ago

I change the transform of this bag to 

<push-ros-namespace namespace="imu"/>
        <node name="static_transform_publisher" pkg="tf2_ros" exec="static_transform_publisher" args="0 0 0 0 3.14159265 0 base_link imu">
        </node>

and it performs well, thanks.