Fixposition Localization

The normal robots localization module can be replaced or fused with the accurate Fixpositions odometry. The file below is a yaml configuration file for a tracked robot’s odometry using the module Robot Localization.

#Configuation for robot Odom EKF
frequency: 100.0
two_d_mode: true
publish_tf: true

predict_to_current_time: true
transform_time_offset: 1

odom_frame: odom
base_link_frame: base_link
world_frame: odom

# X,  Y,   Z
# r,  p,   y,
# X'',Y',  Z'
# r', p',  y'
# X'',Y'', Z''

odom0: rovo_base/odom
odom0_config: [false, false, false,
            false, false, false,
            true,  true,  false,
            false, false, true,
            false, false, false]
odom0_differential: false
odom0_queue_size: 10

odom1: fixposition/odometry
odom1_config: [true, true, false,
            false, false, false,
            true,  true,  false,
            false, false, true,
            false, false, false]
odom0_differential: false
odom0_queue_size: 10

imu0: imu/data
imu0_config: [false, false, false,
            false, false, false,
            false, false, false,
            false, false, true,
            true,  true,  false]
imu0_differential: false
imu0_queue_size: 10
imu0_remove_gravitational_acceleration: true