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methylDragon / ros-sensor-fusion-tutorial

An in-depth step-by-step tutorial for implementing sensor fusion with robot_localization! 🛰
MIT License
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Can this package be used in ros2? #7

Closed miku54 closed 2 years ago

miku54 commented 3 years ago

Is the functionality implemented by this package consistent with that of robot_pose_ekf?

methylDragon commented 3 years ago

Hi there!

I'm not too aware of a robot_pose_ekf for ROS2. But as far as I know, robot_localization is better than the ROS1 robot_pose_ekf because it allows for the fusion of any arbitrary number of odometry sources, as well as more granularity in setting the covariance matrices. See more

Furthermore, robot_pose_ekf is in an unmaintained state..

As for usability with ROS2... robot_localization is a ROS1 package, but you might be able to still use robot_localization by using the ros1_bridge, as long as you ensure that the odometry messages are appropriately translated.

I unfortunately have not yet explored ROS2 options for sensor fusion.

miku54 commented 3 years ago

Hey bro, it works! I'll give you feedback when I debug my car.

methylDragon @.***> 于2021年3月30日周二 下午3:32写道：

Hi there!

I'm not too aware of a robot_pose_ekf for ROS2. But as far as I know, robot_localization is better than the ROS1 robot_pose_ekf because it allows for the fusion of any arbitrary number of odometry sources, as well as more granularity in setting the covariance matrices. See more https://github.com/correll/advancedrobotics/issues/44

Furthermore, robot_pose_ekf is in an unmaintained state..

As for usability with ROS2... robot_localization is a ROS1 package, but you might be able to still use robot_localization by using the ros1_bridge https://github.com/ros2/ros1_bridge, as long as you ensure that the odometry messages are appropriately translated.

I unfortunately have not yet explored ROS2 options for sensor fusion.

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KingBoomie commented 3 years ago

robot_localization supports ros2. just look in the foxy or galactic branches in the repo.

One of the creators of robot_localization is working on a ROS2 native sensor fusion package fuse, but it's very experimental, continuously updated, and the docs seems to be pretty out of date.