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Ekf #223

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Ekf #223

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gmfricke
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Enabled the EKF node. Disabled wheel encoder tf transforms to avoid conflicts.

@gmfricke
Updated Wheel encoders for Round
8796ec9 
Measured the wheel radius and wheel base and updated the wheel encoder node to match.
Noetic displays a timestamp warning for every message that is not later than the last message recieved. This makes the repl unusable. Added a minimum delta time between publishing so avoid that problem. Still need to figure out the minimum delta. This issue of spamming warnings is under active discussion on the devs github.
@gmfricke
Handle Wheel pose in degrees and IMU offset
17a3a2c 
For some reason the pose handler for the wheels is in degrees so had to add a conversion to radians (this must be new)
The IMU's yaw is offset from the rover by 45 degrees

Had to add a factor of 2pi. I can see no reason why this was needed but results in a usable wheel encoder.
@gmfricke
Added EKF support
0011f66
@gmfricke gmfricke requested a review from Carter90 June 25, 2021 22:43
@Carter90 Carter90 linked an issue Jun 27, 2021 that may be closed by this pull request
Have Robots Use EKF Odom #217
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Carter90
Carter90 reviewed Jun 27, 2021
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src/localisation/src/wheel_encoder.py Outdated
self.x += v_wx*2*math.pi # I don't understand why this 2pi factor is needed
self.y += v_wy*2*math.pi

print("X coord: ", self.x)
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If you want to keep these could you make them rospy.loginfo("")

@Carter90
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Carter90 commented Jun 27, 2021 •
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@gmfricke Did you change the topic name in FakeLocalization.py? i don't see it here.
Also you got a merge conflict.

@abbypribis
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Fixed merge conflict - please test :)

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Resolves #130

@Carter90 Carter90 linked an issue Jul 11, 2021 that may be closed by this pull request
Round 2 EKF hardcoded to scout_1 #130
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Carter90 commented Jul 11, 2021 •
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@abbypribis How are you launching?
roslaunch scoot final_round.launch or roslaunch scoot scoot.launch "mode:=man"

[ WARN] [1626038176.742773251, 94.676000000]: Failed to meet update rate! Took 94.676000000000001933
[ WARN] [1626038176.756995975, 94.685000000]: Could not obtain transform from small_scout_1_imu_link to small_scout_1_base_footprint. Error was "small_scout_1_base_footprint" passed to lookupTransform argument target_frame does not exist. 

[ WARN] [1626038176.761994470, 94.690000000]: Failed to meet update rate! Took 94.656666666999996096
/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py:563: UserWarning: '//cmd_vel' is not a legal ROS graph resource name. This may cause problems with other ROS tools
  super(Subscriber, self).__init__(name, data_class, Registration.SUB)
/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py:842: UserWarning: '//back_left_wheel/drive/command/velocity' is not a legal ROS graph resource name. This may cause problems with other ROS tools
  super(Publisher, self).__init__(name, data_class, Registration.PUB)
/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py:842: UserWarning: '//back_right_wheel/drive/command/velocity' is not a legal ROS graph resource name. This may cause problems with other ROS tools
  super(Publisher, self).__init__(name, data_class, Registration.PUB)
/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py:842: UserWarning: '//front_left_wheel/drive/command/velocity' is not a legal ROS graph resource name. This may cause problems with other ROS tools
  super(Publisher, self).__init__(name, data_class, Registration.PUB)
/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py:842: UserWarning: '//front_right_wheel/drive/command/velocity' is not a legal ROS graph resource name. This may cause problems with other ROS tools
  super(Publisher, self).__init__(name, data_class, Registration.PUB)
/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py:842: UserWarning: '//back_left_wheel/steer/command/position' is not a legal ROS graph resource name. This may cause problems with other ROS tools
  super(Publisher, self).__init__(name, data_class, Registration.PUB)
/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py:842: UserWarning: '//back_right_wheel/steer/command/position' is not a legal ROS graph resource name. This may cause problems with other ROS tools
  super(Publisher, self).__init__(name, data_class, Registration.PUB)
/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py:842: UserWarning: '//front_left_wheel/steer/command/position' is not a legal ROS graph resource name. This may cause problems with other ROS tools
  super(Publisher, self).__init__(name, data_class, Registration.PUB)
/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py:842: UserWarning: '//front_right_wheel/steer/command/position' is not a legal ROS graph resource name. This may cause problems with other ROS tools
  super(Publisher, self).__init__(name, data_class, Registration.PUB)

@abbypribis
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hmm, I was doing roslaunch scoot scoot.launch "name:=<rover_name" - didn't you fix final_round.launch on your branch?

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Okay, commands work now - odom really sucks though, ooof

@Carter90
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Carter90 commented Jul 16, 2021 •
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Yeah the EKF is very unstable it took like 10 driver calls for it to "stabilize", I would ask it to drive 10m and it would think it had arrived before it even moved. The logging rate is a bit too high fills up the logs instantly and this is coming from someone who is logging every loop of the driver state meh
I just kept calling drive forward commands scoot.drive(10,ignore=Obstacles.VOLATILE) until i reached the edge here is the **last output of src/scripts/src/deltaDelta.py

# @NOTE
f = fake(gazebo pose)
w = wheel
e = ekf

delta_f_e: -90.4698661173021
delta_w_e: -18.654380510421387
delta_f_w: -71.85976385012785

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Have Robots Use EKF Odom Round 2 EKF hardcoded to scout_1
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@gmfricke @Carter90 @abbypribis