Using wheel odometry data

[kunnalparihar]

Hello, I want to use wheel odometry data in this package. Can you please guide me how to add wheel odometry data (x,y,yaw)?

Thanks in advance

[koide3]

To use wheel odometry data, you need to publish the transformation between odom and sensor frames on TF. Then, set enable_robot_odometry_prediction to true.

https://github.com/koide3/hdl_localization/blob/master/launch/hdl_localization.launch

[kunnalparihar]

Thanks. It worked for me. The overall trajectory looks good when compared with the GPS trajectory, but at some places, the localization trajectory is not smooth (Has some zig zag). How can improve the smoothness of my trajectory? Which parameter needs to be tweaked?

[nyxrobotics]

~I set enable_robot_odometry_prediction to true but /aligned_points does not follow odom. How can I check if it works?~ I made these covariance values to Eigen::Matrix3f::Identity() * 1e-12 and got the behavior I was expecting. I want to reduce the covariance referring to tf. Can you tell me the basis for this calculation? https://github.com/koide3/hdl_localization/blob/d0716af0aebda7bc1c35caaeb25a8da49b9a3a62/src/hdl_localization/pose_estimator.cpp#L101-L102 https://github.com/koide3/hdl_localization/blob/d0716af0aebda7bc1c35caaeb25a8da49b9a3a62/src/hdl_localization/pose_estimator.cpp#L107 https://github.com/koide3/hdl_localization/blob/d0716af0aebda7bc1c35caaeb25a8da49b9a3a62/src/hdl_localization/pose_estimator.cpp#L123-L125