wheel¶
An optional third source of motion. Wheel odometry constrains the estimate along the directions the platform can actually move, which helps most where the geometry is degenerate, such as in a long corridor.
| Option | Default | Starter |
|---|---|---|
topic |
"/odom_experimental" |
|
qos.reliability |
Reliable |
|
covariance |
not set | |
kinematic_constraint_std |
0.001 |
|
kinematic_model |
Full3D |
yes |
ackermann.imu_to_rear_axle |
[0.0m, 0.0m, 0.0m] |
yes |
to_imu_transform |
||
use_tf_tree |
false |
|
rotation |
see below |
wheel.topic¶
Topic carrying nav_msgs/msg/Odometry. Wheel odometry is experimental and has not seen enough testing to be recommended, which is why the default topic name is one nothing publishes on.
wheel.qos.reliability¶
QoS the wheel odometry topic is subscribed with.
Accepted values: besteffort, reliable, systemdefault
Accepted values are case-insensitive.
wheel.covariance¶
How far the filter trusts the wheel odometry. Left unset, the covariance carried in the Odometry message is used instead.
Not set by default. Copy the line above into your configuration to enable it.
wheel.kinematic_constraint_std¶
Standard deviation of the kinematic constraints applied during undistortion. Lower values constrain harder.
Type: number.
wheel.kinematic_model¶
Which directions of motion the platform is capable of. Anything other than Full3D constrains the IEKF accordingly.
Accepted values: Full3D, Differential, DifferentialDrive, Wheeled2D, Holonomic2D, Holonomic, Ackermann
Accepted values are case-insensitive.
Part of the starter configuration.
wheel.ackermann.imu_to_rear_axle¶
Offset from the IMU to the centre of the rear axle, in the IMU frame. Only used when kinematic_model is Ackermann.
Type: array<length>.
Part of the starter configuration.
wheel.to_imu_transform¶
Orientation of the wheel odometry frame relative to the IMU. The velocity and its covariance stay in this frame until the filter evaluates the observation. The reference-point offset is taken from the platform base/Lidar/IMU calibration (or ackermann.imu_to_rear_axle).
wheel.to_imu_transform.use_tf_tree¶
Look the rotation up in the TF tree instead of using the value below. The lookup happens once, when the first odometry message arrives.
Type: boolean.
wheel.to_imu_transform.rotation¶
Rotation from the wheel odometry frame into the IMU frame.
Type: array<array<number>>.