Welcome to RDK X5 Board repository

4、Robot state estimation

By using the IMU module on the ROS expansion board and the encoder of the wheels, the current position and posture of the car can be estimated, which plays an important role in map building and navigation.

1、Run sample code

Taking our company's Rosmaster-X3 as an example, the terminal inputs commands,

ros2 launch yahboomcar_bringup yahboomcar_bringup_X3_launch.py

2、View the node communication diagram

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ros2 run rqt_graph rqt_graph

Mainly by looking at the input and output of the nodes in the red box in the above figure, it can be seen that/ekf_ Filter_ Node receiving odom_ Raw data and imu_ The data is fused, and finally an ODOM data is output and published. We can view it through the ROS2 node tool, with terminal input,

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ros2 node info /ekf_filter_node

3、Launch file parsing

Let's take a look at the main related nodes of the launch file

• /driver_node：Start the car chassis, obtain the speed vel data of the wheels, and publish it to/base_ Node node, obtain IMU data, publish to/IMU_ Filter_ Madgwick node;

• /base_node：Receive vel data, calculate and convert it into odom_ Raw data, published to/ekf_ Filter_ Node；

• /Imu_filter_madgwick：Receive the imu data released by the chassis, filter it through its own algorithm, and publish the filtered imu/data data to/ekf_ Filter_ Node;

• /ekf_filter_node：Receive/base_ odom data and/Imu published by node nodes_ Filter_ Madgwick publishes imu/data data data through its own algorithm, and after fusion, publishes odom data。