fixed utc time issue, now using system time + tuned ekf

common/launch/raw_data.launch

@@ -1,5 +1,7 @@
 <launch>
+	<!-- <include file="$(find mpu9250-driver)/launch/mpu9250.launch"/> -->
 	<include file="$(find common)/launch/tf.launch"/>
-	<include file="$(find mpu9250-driver)/launch/mpu9250.launch"/>
-	<include file="$(find ublox_gps)/launch/ublox_zed-f9p.launch"/>
-</launch>
+	<include file="$(find common)/launch/rtk.launch"/>
+	<include file="$(find sbg_driver)/launch/examples/sbg_ellipseN.launch"/>
+	<node pkg="odrive_ros" type="odrive_basic_node.py" name="odrive_ros" output="screen"> </node>
+</launch>

common/launch/rtk.launch

@@ -1,5 +1,5 @@
 <launch>
-	<include file="$(find common)/launch/tf.launch"/>
+	<!-- <include file="$(find common)/launch/tf.launch"/> -->
 	<include file="$(find ublox_gps)/launch/ublox_zed-f9p.launch"/>
 	<include file="$(find ntrip_ros)/launch/ntrip_ros.launch"/>
 </launch>

common/launch/state_estimation.launch

@@ -1,4 +1,4 @@
 <launch>
-	<include file="$(find common)/launch/gnss.launch"/>
-	<include file="$(find mpu9250-driver)/launch/mpu9250.launch"/>
-</launch>
+	<include file="$(find common)/launch/raw_data.launch"/>
+	<include file="$(find robot_localization)/launch/dual_ekf_navsat_example_rob7.launch"/>
+</launch>

common/launch/tf.launch

@@ -1,7 +1,7 @@
 <launch>
-  <node pkg="tf" type="static_transform_publisher" name="base_link_lidar"         args=" 0.36 0     0.19  0 0 0 /base_link /base_link/lidar 100"/>
-  <node pkg="tf" type="static_transform_publisher" name="base_link_imu"           args=" 0.31 0.11  0.255 0 0 0 /base_link /imu_frame 100"/>
-  <node pkg="tf" type="static_transform_publisher" name="base_link_gps"           args="-0.11 0     0.59  0 0 0 /base_link /gps 100"/>
-  <node pkg="tf" type="static_transform_publisher" name="base_link_camera_front"  args=" 0.36 0     0.235 0 0 0 /base_link /base_link/camera_front 100"/>
-  <node pkg="tf" type="static_transform_publisher" name="base_link_camera_back"   args="-0.12 0     0.22  3.14 0 0 /base_link /base_link/camera_back 100"/>
-</launch>
+  <node pkg="tf" type="static_transform_publisher" name="base_link_lidar"         args=" 0.36 0     0.19  0 0 0 /base_link /base_link/lidar 1"/>
+  <node pkg="tf" type="static_transform_publisher" name="base_link_imu"           args=" 0.31 0.11  0.255 0 0 0 /base_link /imu_frame 1"/>
+  <node pkg="tf" type="static_transform_publisher" name="base_link_gps"           args="-0.11 0     0.59  0 0 0 /base_link /gps 1"/>
+  <node pkg="tf" type="static_transform_publisher" name="base_link_camera_front"  args=" 0.36 0     0.235 0 0 0 /base_link /base_link/camera_front 1"/>
+  <node pkg="tf" type="static_transform_publisher" name="base_link_camera_back"   args="-0.12 0     0.22  3.14 0 0 /base_link /base_link/camera_back 1"/>
+</launch>

common/robot.rviz

@@ -0,0 +1,339 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Grid1/Offset1
+        - /Axes1
+        - /filtered_map1
+        - /filtered_map1/Covariance1/Position1
+        - /gps_position1/Shape1
+        - /gps_position1/Covariance1
+        - /gps_position1/Covariance1/Position1
+        - /TF1/Frames1
+        - /Lookahead1/Status1
+        - /Lookahead1/Namespaces1
+      Splitter Ratio: 0.538095235824585
+    Tree Height: 153
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Front
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 10
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: map
+      Value: true
+    - Alpha: 1
+      Class: rviz/Axes
+      Enabled: false
+      Length: 1
+      Name: Axes
+      Radius: 0.10000000149011612
+      Reference Frame: map
+      Value: false
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: false
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Keep: 300
+      Name: filtered_map
+      Position Tolerance: 0.10000000149011612
+      Queue Size: 10
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 78; 154; 6
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic: /odometry/filtered_map
+      Unreliable: false
+      Value: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: false
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: false
+      Enabled: true
+      Keep: 100
+      Name: gps_position
+      Position Tolerance: 0.10000000149011612
+      Queue Size: 10
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 52; 101; 164
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic: /odometry/gps
+      Unreliable: false
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_link:
+          Value: true
+        base_link/camera_back:
+          Value: true
+        base_link/camera_front:
+          Value: true
+        base_link/lidar:
+          Value: true
+        gps:
+          Value: true
+        imu_frame:
+          Value: true
+        map:
+          Value: true
+        odom:
+          Value: true
+      Marker Alpha: 1
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        map:
+          odom:
+            base_link:
+              base_link/camera_back:
+                {}
+              base_link/camera_front:
+                {}
+              base_link/lidar:
+                {}
+              gps:
+                {}
+              imu_frame:
+                {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: -999999
+      Min Color: 0; 0; 0
+      Min Intensity: 999999
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 5
+      Size (m): 0.009999999776482582
+      Style: Points
+      Topic: /outlier
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /controller/lookahead
+      Name: Lookahead
+      Namespaces:
+        "": true
+      Queue Size: 100
+      Value: true
+    - Class: rviz/Image
+      Enabled: false
+      Image Topic: /right/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: false
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /controller/path_visu
+      Name: Path
+      Namespaces:
+        "": true
+      Queue Size: 100
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /right/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Back
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /left/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Front
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/ThirdPersonFollower
+      Distance: 12.46381950378418
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.509796142578125
+      Target Frame: base_link
+      Yaw: 6.0313401222229
+    Saved: ~
+Window Geometry:
+  Back:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Front:
+    collapsed: false
+  Height: 1376
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 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
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 2488
+  X: 72
+  Y: 27

odrive_ros/nodes/odrive_basic_node.py

@@ -73,7 +73,7 @@ def compute_estimated_twist(self, left_angular_vel, right_angular_vel):
                 message = TwistWithCovarianceStamped()
                 left_linear_vel = -1.0*left_angular_vel*self.tyre_circumference
                 right_linear_vel = right_angular_vel*self.tyre_circumference
-                angular_vel = (right_linear_vel-left_linear_vel)/self.wheel_track*2.0
+                angular_vel = (right_linear_vel-left_linear_vel)/self.wheel_track
                 linear_vel = (left_linear_vel+right_linear_vel)/2.0
                 message.twist.twist.linear.x = linear_vel
                 message.twist.twist.angular.z = angular_vel