ROS Programming: Building Powerful Robots

Using robot localization to fuse sensor data in your robot

Now, we have our robot and we have different sources that can be used to localize the robot such as the wheel encoders and the 9DoF Razor IMU. We are going to install a new package to combine the data from these sensors to improve our robot position estimation. The package robot_localization use an Extended Kalman Filter (EKF) to calculate the new estimation using data from multiple sensors.

To install this package, we will type the following command in a terminal:

    $ sudo apt-get install ros-kinetic-robot-localization
  

Once we have installed this package, the next step is learning how to use it. So, we are going to explore inside the package, a launch file named ekf_template.launch ...