pose_estimation is a node for estimating the 6DOF of a robot based on the EKF of various sensor sources.

Subscribed Topics

fix (sensor_msgs/NavSatFix)
  • GPS data.
raw_imu (Sensor_msgs/Imu)
  • Raw IMU data.
syscommand (std_msgs/String)
  • System command. If the string equals "reset" the map and robot pose are reset to their initial state.
magnetic (geometry_msgs/Vector3Stamped)
  • Magnetic orientation.
pressure_height (geometry_msgs/PointStamped)
  • Altitude from barometric pressure.
fix_velocity (geometry_msgs/Vector3Stamped)
  • Velocities from GPS data (North = x, East = y).
twistupdate (geometry_msgs/TwistWithCovarianceStamped)
  • Twist update.
poseupdate (geometry_msgs/PoseWithCovarianceStamped)
  • Estimated robot pose with a gaussian estimate of uncertainty.

Published Topics

pose (geometry_msgs/PoseStamped)
  • Estimated pose of the robot based on the sensor fusing.
velocity (geometry_msgs/Vector3Stamped)
  • X, Y and Z velocities of the robot.
state (nav_msgs/Odometry)
  • Odometry computed based on robot's sensors.
fix/pose (geometry_msgs/PoseStamped)
  • The estimated robot pose based on the GPS data.
imu (sensor_msgs/Imu)
  • Filtered IMU data.
angular_velocity_bias (geometry_msgs/Vector3Stamped)
  • TBD
tf (tf2_msgs/TFMessage)
  • TBD
linear_acceleration_bias (geometry_msgs/Vector3Stamped)
  • TBD
global (sensor_msgs/NavSatFix)
  • Global GPS coordinates.
euler (geometry_msgs/Vector3Stamped)
  • Euler angles.

Wiki: hector_pose_estimation (last edited 2014-07-17 21:02:46 by GaryServin)