robot_pose_ekf
Related: Use EKF to fuse IMU data and odometer data, and use robot_pose_ekf that comes with ROS.
ps: Because I am a novice, I plan to try to get the effect first and then go back to learn the principle, so I am not sure that the steps I recorded apply to everyone. But the steps I recorded are guaranteed to be run on my own computer.
Related programs already on the computer: cartographer (already run and can be run)
download
cd catkin_ws/src
git clone https://github.com/ros-planning/robot_pose_ekf.git
compile
I'm not sure if this step is necessary. In theory, the compilation is wrong, and there should be problems later, but my own compilation keeps reporting errors, so I can only try it first.
cd ..
catkin_make
The following is a screenshot of the error reported by catkin_make. Some people said that there are packages that are not used by ros in the src folder in the workspace. Let me delete them and try, but it did not solve my problem, because I could not find irrelevant packages. . . I've tried every package, but nothing compiles unless I remove them all.
use
source devel/setup.bash
rosdep install robot_pose_ekf
roscd robot_pose_ekf
rosmake
run
The operation reports an error, but I suspect it is because I haven't connected imu yet? It's not running. So when I test it later, I think of it and come back to update.
roslaunch robot_pose_ekf.launch