ROS 之 robot_pose_ekf 多传感器融合

青旅半醒 2022-11-29 13:20 137阅读 0赞

> github地址：[https://github.com/ros-planning/robot\_pose\_ekf][https_github.com_ros-planning_robot_pose_ekf]

**0. 安装**

# 下载与编译
    $ cd catkin_ws/src
    $ git clone https://github.com/ros-planning/robot_pose_ekf.git
    $ cd ..
    $ catkin_make
     
    # 出现问题与解决方案
    #问题1：
    -- Checking for module 'orocos-bfl'
    --   No package 'orocos-bfl' found
    #解决：
    $sudo apt-get install ros-kinetic-bfl

**1. 使用**

<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen">
        <param name="freq" value="30.0"/>
        <param name="sensor_timeout" value="1.0"/>
        <param name="odom_used" value="true"/>
        <param name="imu_used" value="true"/>
        <param name="vo_used" value="false"/>
        <remap from="/imu_data" to="/mobile_base/sensors/imu_data" />
      </node>

**2.参考资料**  
http://wiki.ros.org/robot\_pose\_ekf  
http://blog.csdn.net/x\_r\_su/article/details/53406078

[https_github.com_ros-planning_robot_pose_ekf]: https://github.com/ros-planning/robot_pose_ekf