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lassepe / motion-planning-hackathon-template

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Add extended demo launch file with obstacles and EKF filtering #2

Open oscardegroot opened 8 months ago

oscardegroot commented 8 months ago

Since most of us implemented something to read obstacles and apply EKF filtering to get their velocities. I think it might be nice to add an demo_with_obstacles.launch file where people can specify what Vicon objects should be read as obstacles and it runs an EKF for each to get their velocity.

What do you think @lassepe? I can implement it, if you agree that it is useful ;)

lassepe commented 8 months ago

I agree this is useful and I would appreciate a contribution. You have to be a bit careful when you do that: in our existing EKF config, robot_localization publishes map->odom and assumes existence of map->baseline. I think there should be options in robot_localization to use different frames (and not rely on the existence of odom->obstacle) but it involves some digging. I suspect that you would have to set the odom frame in the ekf.yaml to map and the baselink frame to obstacle or something

oscardegroot commented 8 months ago

Okay, I will look into it.

For the obstacles, is it actually necessary to set the tf frames? I used publish_tf: false yesterday to avoid it from publishing any tfs (it just publishes the odometry on the associated topic).

lassepe commented 8 months ago

For the obstacles, is it actually necessary to set the tf frames? I used publish_tf: false yesterday to avoid it from publishing any tfs (it just publishes the odometry on the associated topic).

Yes, that should work; so long as you make sure it doesn't try to use odom->baselink (since it may otherwise use the robots odom for the obstacles estimate)