For some reason, the magnetometer is not integrated in our localization node, the ekf_localization_node. It is important to integrate the magnetometer measurements in order to ensure more accurate state estimation.
A simple way to visualize the inaccuracies caused by the lack of magnetometer integration is by:
roslaunch igvc_gazebo ramp_lane.launch
In gazebo rotate the robot about 45 degrees counter clockwise so it is facing in a different starting direction.
roslaunch igvc_navigation localization.launch
Open rviz and display the /ground_truth and /odometry/filtered topics. The difference between the ground truth and the state estimation should be evident and look something like this:
(green arrow is ground truth and red arrow is state estimation)
AC: Integrated magnetometer measurements in the ekf_localization_node.
For some reason, the magnetometer is not integrated in our localization node, the
ekf_localization_node. It is important to integrate the magnetometer measurements in order to ensure more accurate state estimation.A simple way to visualize the inaccuracies caused by the lack of magnetometer integration is by:
roslaunch igvc_gazebo ramp_lane.launchroslaunch igvc_navigation localization.launch/ground_truthand/odometry/filteredtopics. The difference between the ground truth and the state estimation should be evident and look something like this:(green arrow is ground truth and red arrow is state estimation)
AC: Integrated magnetometer measurements in the
ekf_localization_node.