P2 - Address GPS Drift

[Marc-Morcos]

Description:

• Address gps drift

Goals:

• Find the real values for the gps drift and put them in constants.xacro
• find minimize the effects of gps drift in situations like CAFF-15(P2 - Convert GPS Waypoints to Navigation Goals #15)

Acceptance Criteria:

• Robot consistently navigates very close to correct waypoints (compared to when gps drift is turned off)
• waypoints do not glitch into or beyond walls

Notes:

• This is based on P2 - Convert GPS Waypoints to Navigation Goals #15 and how to use the waypoints is described in Caff-15 - Navigate to gps waypoints #62

[1999michael]

ideas:

• If we believe our global/local odom is more accurate, could we reverse calculate odom to GPS, and use that instead?

[Marc-Morcos]

ideas:

* If we believe our global/local odom is more accurate, could we reverse calculate odom to GPS, and use that instead?

Good idea. Where would we make that channge, move base or navigate waypoints?

[1999michael]

I would actually publish a topic in the odom folder, and then reference that other topic from the navigate waypoints (if we so choose to)

[1999michael]

What we should look into:

1. How does drift actually work (max/min, what direction, etc...) --> http://wiki.ros.org/hector_gazebo_plugins Looks to be the definition for the standard deviation
2. How does odometry/global values change with/without GPS drift, and how it looks at closer points vs. farther points (remove ramp if needed)
3. How does odometry/local values change with/without GPS drift, and how it looks at closer points vs. farther points (remove ramp if needed)
4. Overtime, we should find that the difference between odom value in GPS (GPS projected into odom frame) is close to odom global

How to convert GPS to odom frame for verification

1. Make a test node that converts GPS/fix to odom frame, similar to navigate_waypoints.py. This topic can be used to compare to odometry/global, odometry/local. NOTE: Can even do a topic that publishes the difference between the GPS/fix value in odom frame vs. the odometry global/local

How to do GPS -> odom

1. Make a python file and launch similar to navigate_waypoints.py
2. Python/CPP file should:
   a. subscribe to GPS/fix
   b. apply transform to GPS/fix to get the value in the Odom frame
   c. Publish the transformed value
   d. (Would be good) To make comparison easier, we can publish the delta of GPS/fix -> Odom with odometry/local & odometry/global instead of looking at 2 topics side by side

[Marc-Morcos]

Global seems to be much more off

local
deltaX= -0.00945254509127, deltaY = -0.0366929803624, deltaZ = 0.130747443928
deltaX= -0.00728453567912, deltaY = -0.0341913296042, deltaZ = 0.132291126843
deltaX= -0.00176391981054, deltaY = -0.0295726591105, deltaZ = 0.142932323065
deltaX= -0.00641377544494, deltaY = -0.0181510238029, deltaZ = 0.135232165053
deltaX= -0.00443098386487, deltaY = -0.0136316143235, deltaZ = 0.139571553013
deltaX= -0.0027260796278, deltaY = -0.0050328977039, deltaZ = 0.145287044658

global
deltaX= -0.0223258642276, deltaY = 0.135002561408, deltaZ = 0.232330038419
deltaX= -0.00729782131722, deltaY = 0.144283684989, deltaZ = 0.232834736193
deltaX= -0.0107647264243, deltaY = 0.142877473895, deltaZ = 0.236510794459
deltaX= -0.00473046484617, deltaY = 0.151286998808, deltaZ = 0.231771331052
deltaX= 0.00823983560928, deltaY = 0.153643468653, deltaZ = 0.231211182716

[Marc-Morcos]

these are all at spawn btw

[Marc-Morcos]

I ran a test where it went to the first few points of load waypoints (although we didn't get over the ramp and drift made the points innacurate)
Local: deltaX= 0.00521441586958, deltaY = -0.00133963894512, deltaZ = 0.00389438869625
Global: deltaX= -0.00560621930319, deltaY = -0.000333706758165, deltaZ = 0.00286965807019
Local: deltaX= 0.00368378434601, deltaY = 0.000245986885925, deltaZ = 0.00563379780318
Global: deltaX= -0.0029300469949, deltaY = 0.00299201016144, deltaZ = 0.0036024584565
Local: deltaX= 0.0254121298377, deltaY = 0.0053442682437, deltaZ = 0.00187527113442
Global: deltaX= 0.0226543386205, deltaY = 0.0064314700523, deltaZ = 0.00101386265335
Local: deltaX= 0.029670533207, deltaY = 0.0108266392404, deltaZ = 0.00100896983217
Global: deltaX= 0.0340278662935, deltaY = 0.0121905141055, deltaZ = -0.00424440127916
Local: deltaX= 0.0305540396574, deltaY = 0.00680005147102, deltaZ = 0.00318179716557
Global: deltaX= 0.0460509166452, deltaY = 0.00848830380818, deltaZ = 0.000145339819094
Local: deltaX= 0.0139634459731, deltaY = -0.00406374348426, deltaZ = 0.00575564662167
Global: deltaX= 0.0452111897595, deltaY = -0.00455514776981, deltaZ = 0.00215385984632
Local: deltaX= 0.0489402838557, deltaY = -0.00114843458803, deltaZ = 0.00519713497519
Global: deltaX= 0.0966613943199, deltaY = -0.000849325391162, deltaZ = 0.00173981088916
Local: deltaX= 0.0137494386797, deltaY = -0.0054668055073, deltaZ = 0.00483505039225
Global: deltaX= 0.100682473618, deltaY = -0.00506156410918, deltaZ = 0.00239647997834
Local: deltaX= 0.055557896037, deltaY = -0.0286066351219, deltaZ = 0.00404170054523
Global: deltaX= 0.136176232519, deltaY = -0.0285963273344, deltaZ = 0.000189916989112
Local: deltaX= 0.0721818552998, deltaY = -0.027210290357, deltaZ = 0.0039677627946
Global: deltaX= 0.170192310736, deltaY = -0.0216467368959, deltaZ = 0.00233069309154
Local: deltaX= 0.0850134339845, deltaY = -0.0200387317001, deltaZ = 0.00385820211182
Global: deltaX= 0.201948371307, deltaY = -0.0158873446022, deltaZ = 0.00268337935746
Local: deltaX= 0.0906788645535, deltaY = -0.0121963591259, deltaZ = 0.00270853490381
Global: deltaX= 0.220230933687, deltaY = -0.00604166795499, deltaZ = 0.00288348000827
Local: deltaX= 0.0947494370943, deltaY = -0.00923649949958, deltaZ = 0.00180167026887
Global: deltaX= 0.236097360196, deltaY = 1.36283544002e-05, deltaZ = 0.00239284217073
Local: deltaX= 0.104725768737, deltaY = -0.00485325047393, deltaZ = 0.00332003805846
Global: deltaX= 0.25978860786, deltaY = 0.0101679566616, deltaZ = 0.0013249894603
Local: deltaX= 0.115211565972, deltaY = -0.00875243474914, deltaZ = 0.00337352395667
Global: deltaX= 0.284863084539, deltaY = 0.00903830726086, deltaZ = 0.00394190482785
Local: deltaX= 0.133599955385, deltaY = -0.0102620050732, deltaZ = 0.00368156988363
Global: deltaX= 0.37699576774, deltaY = 0.0122899066817, deltaZ = 0.00594880347629
Local: deltaX= 0.159179324155, deltaY = -0.0251503362561, deltaZ = 0.00382696829772
Global: deltaX= 0.369280546153, deltaY = 0.00067421014955, deltaZ = 0.00492314735316
Local: deltaX= 0.122550904083, deltaY = -0.0245485040915, deltaZ = -0.000725244701396
Global: deltaX= 0.34147027457, deltaY = 0.00472312894025, deltaZ = 0.00024628958146
Local: deltaX= 0.206767704531, deltaY = -0.0260830885942, deltaZ = -0.00387671566735
Global: deltaX= 0.435454627472, deltaY = 0.00668712522019, deltaZ = -0.00260398904388
Local: deltaX= 0.180911928255, deltaY = -0.0218380207848, deltaZ = -0.00346065637495
Global: deltaX= 0.416518913682, deltaY = 0.012916163748, deltaZ = -0.00206605555983
Local: deltaX= 0.163055899726, deltaY = -0.0284387992992, deltaZ = -0.00580878611617
Global: deltaX= 0.400809320834, deltaY = 0.0100536907776, deltaZ = -0.00363470788037
Local: deltaX= 0.21741229032, deltaY = -0.0227015518024, deltaZ = -0.00637982104836
Global: deltaX= 0.423196893165, deltaY = 0.0180160065669, deltaZ = -0.00422827920889
Local: deltaX= 0.201077800526, deltaY = -0.0257346085115, deltaZ = -0.0066744884668
Global: deltaX= 0.4124089087, deltaY = 0.0192832825886, deltaZ = -0.00459007520258
Local: deltaX= 0.138072938788, deltaY = -0.0357445963964, deltaZ = -0.00702269704458
Global: deltaX= 0.39611263829, deltaY = 0.0130725494826, deltaZ = -0.0051175687278
Local: deltaX= 0.180413664331, deltaY = -0.0378437845543, deltaZ = -0.00981605775882
Global: deltaX= 0.399244162394, deltaY = 0.0164188317963, deltaZ = -0.00824739250047
Local: deltaX= 0.229584556321, deltaY = -0.027627474464, deltaZ = -0.0051423078078
Global: deltaX= 0.495505863797, deltaY = 0.0310189340222, deltaZ = -0.00277402705126
Local: deltaX= 0.244950920454, deltaY = -0.0466992736698, deltaZ = -0.00584677873504
Global: deltaX= 0.516751116667, deltaY = 0.0132064627702, deltaZ = -0.00396261005079
Local: deltaX= 0.153557685543, deltaY = -0.0418536066202, deltaZ = -0.00305130506168
Global: deltaX= 0.472704305218, deltaY = 0.0257436042005, deltaZ = -0.00507220173382
Local: deltaX= 0.161777137937, deltaY = -0.042209634957, deltaZ = -0.0100488454397
Global: deltaX= 0.4850684, deltaY = 0.0314695508807, deltaZ = -0.00835421846825
Local: deltaX= 0.228443927849, deltaY = -0.0485315971793, deltaZ = -0.0079524396777
Global: deltaX= 0.511810180348, deltaY = 0.0293873134151, deltaZ = -0.00623783019398
Local: deltaX= 0.205812104797, deltaY = -0.0420483192135, deltaZ = -0.00794273782357
Global: deltaX= 0.490936776402, deltaY = 0.0394766061636, deltaZ = -0.00626718614559
Local: deltaX= 0.206293320006, deltaY = -0.0423082308257, deltaZ = -0.00765805839539
Global: deltaX= 0.488202100603, deltaY = 0.0416183416921, deltaZ = -0.00605762212662
Local: deltaX= 0.187516826753, deltaY = -0.0325934672113, deltaZ = -0.00820939857688
Global: deltaX= 0.471664151194, deltaY = 0.0550390456109, deltaZ = -0.00563777109057
Local: deltaX= 0.184377638491, deltaY = -0.0406677989017, deltaZ = -0.010849671968
Global: deltaX= 0.463565703577, deltaY = 0.0532539886726, deltaZ = -0.00600733090232
Local: deltaX= 0.186924434488, deltaY = -0.0283940656797, deltaZ = -0.018619028469
Global: deltaX= 0.463440347726, deltaY = 0.0684528777283, deltaZ = -0.0181937554896
Local: deltaX= 0.188355302959, deltaY = -0.035881699888, deltaZ = -0.0155635871149
Global: deltaX= 0.462459329469, deltaY = 0.065334047711, deltaZ = -0.0169092084745
Local: deltaX= 0.188936063554, deltaY = -0.029417991487, deltaZ = -0.0172955057784
Global: deltaX= 0.458739712821, deltaY = 0.0753951716576, deltaZ = -0.0170183333659
Local: deltaX= 0.180454868585, deltaY = -0.0351160178442, deltaZ = -0.0155130812473
Global: deltaX= 0.456473252498, deltaY = 0.0693111127228, deltaZ = -0.0176267000727
Local: deltaX= 0.165619716777, deltaY = -0.0414858389775, deltaZ = -0.0172187405278
Global: deltaX= 0.424559135133, deltaY = 0.0668373694034, deltaZ = -0.0171159582691
Local: deltaX= 0.147601025113, deltaY = -0.0478246836369, deltaZ = -0.0164087525722
Global: deltaX= 0.392056742698, deltaY = 0.0620390710374, deltaZ = -0.0176818171158
Local: deltaX= 0.140878066593, deltaY = -0.0483406789793, deltaZ = -0.0171951629782
Global: deltaX= 0.388167270549, deltaY = 0.0661151133852, deltaZ = -0.0166395018977
Local: deltaX= 0.130310129516, deltaY = -0.0553251816923, deltaZ = -0.00788483740947
Global: deltaX= 0.371473191696, deltaY = 0.0628785186632, deltaZ = -0.0105659503044
Local: deltaX= 0.127171589123, deltaY = -0.0488469035009, deltaZ = -0.0104590886734
Global: deltaX= 0.363120931864, deltaY = 0.0744247552953, deltaZ = -0.00880723477238
Local: deltaX= 0.121618406426, deltaY = -0.0479728102542, deltaZ = -0.0136283802776
Global: deltaX= 0.354398501489, deltaY = 0.0806323006033, deltaZ = -0.00994030444487
Local: deltaX= 0.113665042372, deltaY = -0.0493881559994, deltaZ = -0.0101651911829
Global: deltaX= 0.341270003188, deltaY = 0.0832592608986, deltaZ = -0.00901959787569
Local: deltaX= 0.110692507794, deltaY = -0.0431411968765, deltaZ = -0.00898513301201
Global: deltaX= 0.335507767143, deltaY = 0.0931095936939, deltaZ = -0.00880451899363
Local: deltaX= 0.107108687077, deltaY = -0.0487058645429, deltaZ = -0.00912075869548
Global: deltaX= 0.33504254951, deltaY = 0.0883201026152, deltaZ = -0.00809955793362
Local: deltaX= 0.094218197541, deltaY = -0.0527882194156, deltaZ = -0.0077971844287
Global: deltaX= 0.326011046292, deltaY = 0.0862707490133, deltaZ = -0.0063377910397
Local: deltaX= 0.106223238302, deltaY = -0.0474399926632, deltaZ = -0.0054879980714
Global: deltaX= 0.343381561014, deltaY = 0.0960818016331, deltaZ = -0.00338147443018
Local: deltaX= 0.0988524206027, deltaY = -0.051416687796, deltaZ = -0.0111715487261
Global: deltaX= 0.318690355101, deltaY = 0.101191907664, deltaZ = -0.00943666660793
Local: deltaX= 0.109179862263, deltaY = -0.0399547327715, deltaZ = -0.0141317146036
Global: deltaX= 0.340987353208, deltaY = 0.116114954032, deltaZ = -0.0131832932518
Local: deltaX= 0.145889943832, deltaY = -0.0435924982296, deltaZ = -0.00579405228471
Global: deltaX= 0.415103185594, deltaY = 0.109608079857, deltaZ = -0.0124328654285
Local: deltaX= 0.0997011916562, deltaY = -0.0223063397591, deltaZ = -0.0109890331637
Global: deltaX= 0.36824903732, deltaY = 0.132819209329, deltaZ = -0.0214350654962
Local: deltaX= 0.140359624121, deltaY = -0.0571185915181, deltaZ = -0.0131862352237
Global: deltaX= 0.408931241905, deltaY = 0.0971517021186, deltaZ = -0.0204618549284
Local: deltaX= 0.121237404936, deltaY = -0.0410058353795, deltaZ = -0.014437942376
Global: deltaX= 0.388626071914, deltaY = 0.113175073848, deltaZ = -0.0211705344045
Local: deltaX= 0.10784021408, deltaY = -0.0284053885923, deltaZ = -0.0137704928383
Global: deltaX= 0.388807931969, deltaY = 0.120434559272, deltaZ = -0.0214771983553
Local: deltaX= 0.114860400319, deltaY = -0.0239850231678, deltaZ = -0.0131659463084
Global: deltaX= 0.379252054322, deltaY = 0.131943440988, deltaZ = -0.0226135786484
Local: deltaX= 0.108161849515, deltaY = -0.0212937704424, deltaZ = -0.0122220515167
Global: deltaX= 0.367790991, deltaY = 0.133352133933, deltaZ = -0.0220663347519
Local: deltaX= 0.109222305387, deltaY = -0.0263411758606, deltaZ = -0.0113593150387
Global: deltaX= 0.366149354161, deltaY = 0.129690199707, deltaZ = -0.0213472191661
Local: deltaX= 0.106736262697, deltaY = -0.0310302057525, deltaZ = -0.0115317086593
Global: deltaX= 0.3516072901, deltaY = 0.128512484217, deltaZ = -0.0213050691115
Local: deltaX= 0.106565153248, deltaY = -0.0295215373077, deltaZ = -0.010918181027
Global: deltaX= 0.35580322072, deltaY = 0.12689430351, deltaZ = -0.0209143317504
Local: deltaX= 0.0867242014597, deltaY = -0.0198015110883, deltaZ = -0.0104292566282
Global: deltaX= 0.33787667159, deltaY = 0.134458432321, deltaZ = -0.0204095388444
Local: deltaX= 0.0821024454469, deltaY = -0.018091820413, deltaZ = -0.0112747072341
Global: deltaX= 0.323316784543, deltaY = 0.140816204493, deltaZ = -0.0205446651122
Local: deltaX= 0.0895377991102, deltaY = -0.0165465988248, deltaZ = -0.00434859112079
Global: deltaX= 0.32718002675, deltaY = 0.143257829552, deltaZ = -0.0101010872406
Local: deltaX= 0.0701753911469, deltaY = -0.0158912949848, deltaZ = -0.00386738525204
Global: deltaX= 0.303125885147, deltaY = 0.14451822331, deltaZ = -0.0115970186986
Local: deltaX= 0.0609279471354, deltaY = -0.0100343149187, deltaZ = -0.0126778112446
Global: deltaX= 0.290109393344, deltaY = 0.151623716303, deltaZ = -0.0117399427954
Local: deltaX= 0.0518679201934, deltaY = -0.00760448368034, deltaZ = -0.020842376066
Global: deltaX= 0.278482151637, deltaY = 0.15300983716, deltaZ = -0.0236349278685
Local: deltaX= 0.0536343457893, deltaY = 0.0121216899282, deltaZ = -0.00369570419133
Global: deltaX= 0.277848380608, deltaY = 0.174609612391, deltaZ = -0.00882444647584
Local: deltaX= 0.0524788971511, deltaY = 0.00220731299965, deltaZ = 0.00145646842241
Global: deltaX= 0.273745611568, deltaY = 0.158275796018, deltaZ = -0.00632970179062
Local: deltaX= 0.0674547343711, deltaY = -0.0103641019769, deltaZ = -0.00664065344225
Global: deltaX= 0.286482369088, deltaY = 0.141568833296, deltaZ = -0.015079212969
Local: deltaX= 0.0610472072474, deltaY = -0.0148782869582, deltaZ = -0.00719185589345
Global: deltaX= 0.274232492258, deltaY = 0.131095467488, deltaZ = -0.013872568356
Local: deltaX= 0.0518276414896, deltaY = -0.0131777630745, deltaZ = -0.00660342178871
Global: deltaX= 0.260692263605, deltaY = 0.135617424496, deltaZ = -0.013144430837
Local: deltaX= 0.0489470250769, deltaY = -0.00748445089202, deltaZ = -0.00582584943515
Global: deltaX= 0.255145370317, deltaY = 0.138013879532, deltaZ = -0.0132440005609
Local: deltaX= 0.0418603214399, deltaY = -0.0160854579371, deltaZ = -0.00581350938443
Global: deltaX= 0.244884634816, deltaY = 0.125000229731, deltaZ = -0.0127763654102
Local: deltaX= 0.0459535791679, deltaY = -0.0192564911803, deltaZ = -0.00499848858708
Global: deltaX= 0.24658001314, deltaY = 0.117598622101, deltaZ = -0.0119421768903
Local: deltaX= 0.0473755194463, deltaY = -0.0262347228676, deltaZ = -0.00626694621499
Global: deltaX= 0.242633192601, deltaY = 0.105523253692, deltaZ = -0.012614953022
Local: deltaX= 0.0419664164831, deltaY = -0.029299873747, deltaZ = 0.0127237016415
Global: deltaX= 0.23472777416, deltaY = 0.0958127914698, deltaZ = -0.0228003601215
Local: deltaX= 0.0436323491258, deltaY = -0.0362304037069, deltaZ = -0.0370533539033
Global: deltaX= 0.23229596342, deltaY = 0.0800922287072, deltaZ = -0.0506794350543
Local: deltaX= 0.051716874525, deltaY = -0.027871296488, deltaZ = -0.0387759256844
Global: deltaX= 0.237026082034, deltaY = 0.079425664603, deltaZ = -0.0536569757866
Local: deltaX= 0.0490812083353, deltaY = -0.0307476945717, deltaZ = -0.0386065986478
Global: deltaX= 0.227799785835, deltaY = 0.069958698919, deltaZ = -0.0531658564333
Local: deltaX= 0.0501353086967, deltaY = -0.0500055103113, deltaZ = -0.0390008162461
Global: deltaX= 0.226320968606, deltaY = 0.0373175087719, deltaZ = -0.0507432019218
Local: deltaX= 0.0526580853368, deltaY = -0.0695090918408, deltaZ = -0.0398273851328
Global: deltaX= 0.222828295792, deltaY = 0.0138431096216, deltaZ = -0.0531643582028
Local: deltaX= 0.0567495773135, deltaY = -0.0606076276548, deltaZ = -0.0400904008434
Global: deltaX= 0.225080249842, deltaY = 0.0187345101415, deltaZ = -0.052904498011
Local: deltaX= 0.0704465571126, deltaY = -0.0664826200437, deltaZ = -0.0401580257729
Global: deltaX= 0.237579412001, deltaY = 0.00942946554527, deltaZ = -0.052729328786
Local: deltaX= 0.0715531955303, deltaY = -0.0829907932076, deltaZ = -0.0395581708955
Global: deltaX= 0.235438523951, deltaY = -0.00832552680897, deltaZ = -0.0530979242962
Local: deltaX= 0.0642456084336, deltaY = -0.074555568693, deltaZ = -0.0401539922656
Global: deltaX= 0.231023043315, deltaY = -0.00810329953711, deltaZ = -0.0532745484092
Local: deltaX= 0.0859377864013, deltaY = -0.104786109196, deltaZ = -0.0403724900099
Global: deltaX= 0.257007436397, deltaY = -0.0421008385053, deltaZ = -0.0533051577587
Local: deltaX= 0.0702176784362, deltaY = -0.0990574072388, deltaZ = -0.0410174755307
Global: deltaX= 0.249030413897, deltaY = -0.0433919357254, deltaZ = -0.053966177568
Local: deltaX= 0.0676337824875, deltaY = -0.109376383489, deltaZ = -0.0424720466307
Global: deltaX= 0.25829165437, deltaY = -0.0605530764398, deltaZ = -0.0545392246189
Local: deltaX= 0.0149336911472, deltaY = -0.0835501737382, deltaZ = -0.0401981350987
Global: deltaX= 0.227586149809, deltaY = -0.0413026988229, deltaZ = -0.0547270429677
Local: deltaX= -0.00614206433451, deltaY = -0.0813135082622, deltaZ = -0.0421236368566
Global: deltaX= 0.221506338699, deltaY = -0.0496369018306, deltaZ = -0.0560698728186
Local: deltaX= 0.0633473817232, deltaY = -0.115426508848, deltaZ = -0.0399806404289
Global: deltaX= 0.297282994554, deltaY = -0.0848762135745, deltaZ = -0.0541792622567
Local: deltaX= 0.0774558014268, deltaY = -0.0975206839273, deltaZ = -0.0407658042577
Global: deltaX= 0.327904994851, deltaY = -0.0762977489762, deltaZ = -0.058294582979
Local: deltaX= 0.109536356745, deltaY = -0.102592131069, deltaZ = -0.040539392427
Global: deltaX= 0.375126354758, deltaY = -0.0891033394323, deltaZ = -0.0552090875962
Local: deltaX= 0.111515050535, deltaY = -0.0762543737577, deltaZ = -0.0386624177999
Global: deltaX= 0.385554209095, deltaY = -0.0759551417836, deltaZ = -0.0535219703153
Local: deltaX= 0.0921582596566, deltaY = -0.0323510648054, deltaZ = -0.0367682344813
Global: deltaX= 0.369425423155, deltaY = -0.0404661390355, deltaZ = -0.052865463056
Local: deltaX= 0.179633611231, deltaY = -0.0895783313996, deltaZ = -0.0383605981638
Global: deltaX= 0.462346255966, deltaY = -0.11037962877, deltaZ = -0.051265849569
Local: deltaX= 0.168727729114, deltaY = -0.0603153945302, deltaZ = -0.0455416061593
Global: deltaX= 0.455279568359, deltaY = -0.0922598409914, deltaZ = -0.0468798986816
Local: deltaX= 0.161592144701, deltaY = -0.0431766298427, deltaZ = -0.0602557863699
Global: deltaX= 0.412707949892, deltaY = -0.0556166626584, deltaZ = -0.0700095102378
Local: deltaX= 0.151977621674, deltaY = -0.0281141822005, deltaZ = -0.0629268661202
Global: deltaX= 0.484512680284, deltaY = -0.11164450007, deltaZ = -0.0682778610832
Local: deltaX= 0.213621716892, deltaY = -0.0872608390489, deltaZ = -0.0626545778424
Global: deltaX= 0.510420895122, deltaY = -0.154656965885, deltaZ = -0.068900376554
Local: deltaX= 0.193288359939, deltaY = -0.0872537788462, deltaZ = -0.0645247030034
Global: deltaX= 0.490542361571, deltaY = -0.164922625736, deltaZ = -0.074938196341
Local: deltaX= 0.191172617677, deltaY = -0.0768451227988, deltaZ = -0.056060866713
Global: deltaX= 0.487050064925, deltaY = -0.158486866665, deltaZ = -0.0663423123487
Local: deltaX= 0.209847378978, deltaY = -0.0726415062089, deltaZ = -0.0460980086348
Global: deltaX= 0.504069803504, deltaY = -0.158381711079, deltaZ = -0.0563509845079
Local: deltaX= 0.190964329886, deltaY = -0.0524222585094, deltaZ = -0.0593820144704
Global: deltaX= 0.455876959462, deltaY = -0.124747161576, deltaZ = -0.0669619932731
Local: deltaX= 0.182934691183, deltaY = -0.0683006573118, deltaZ = -0.0550443885413
Global: deltaX= 0.465643270679, deltaY = -0.164986020281, deltaZ = -0.0631746695731
Local: deltaX= 0.194935410581, deltaY = -0.0727922002015, deltaZ = -0.0582440545708
Global: deltaX= 0.47043514138, deltaY = -0.168182289537, deltaZ = -0.0631434887262
Local: deltaX= 0.19200013528, deltaY = -0.0667321287385, deltaZ = -0.0587757362053
Global: deltaX= 0.441296885932, deltaY = -0.151908967311, deltaZ = -0.0674459649555
Local: deltaX= 0.172391934495, deltaY = -0.0719165660524, deltaZ = -0.0529110978031
Global: deltaX= 0.430559133124, deltaY = -0.172923118863, deltaZ = -0.0503277008951
Local: deltaX= 0.14912603548, deltaY = -0.0596515431008, deltaZ = -0.0413989610932
Global: deltaX= 0.396456913828, deltaY = -0.162072470096, deltaZ = -0.0454709161224
Local: deltaX= 0.167883150252, deltaY = -0.0787192153851, deltaZ = -0.0385449071835
Global: deltaX= 0.409276166548, deltaY = -0.182256368013, deltaZ = -0.0402646126994
Local: deltaX= 0.154528583064, deltaY = -0.0739498607549, deltaZ = -0.035946921882
Global: deltaX= 0.388901995824, deltaY = -0.177513094736, deltaZ = -0.0368851664455
Local: deltaX= 0.152717325103, deltaY = -0.0833957508813, deltaZ = -0.0317133608005
Global: deltaX= 0.380408191919, deltaY = -0.184635031033, deltaZ = -0.0278549788463
Local: deltaX= 0.151542055256, deltaY = -0.0811423340772, deltaZ = -0.0320928509168
Global: deltaX= 0.370287564332, deltaY = -0.181083058299, deltaZ = -0.02935890855
Local: deltaX= 0.135905905231, deltaY = -0.0622979762214, deltaZ = -0.0323923634352
Global: deltaX= 0.343395374044, deltaY = -0.160447967477, deltaZ = -0.0302269812437
Local: deltaX= 0.140206195814, deltaY = -0.0604217352398, deltaZ = -0.0333710208559
Global: deltaX= 0.341246168823, deltaY = -0.155509787583, deltaZ = -0.0306279272326
Local: deltaX= 0.115738961341, deltaY = -0.0511648678859, deltaZ = -0.0330356818423
Global: deltaX= 0.308326739649, deltaY = -0.145647434068, deltaZ = -0.0313393482939
Local: deltaX= 0.0997272522349, deltaY = -0.0442188832543, deltaZ = -0.0336336369735
Global: deltaX= 0.285529151366, deltaY = -0.135152635185, deltaZ = -0.0316076641992
Local: deltaX= 0.0914768790713, deltaY = -0.062594296201, deltaZ = -0.0360677044485
Global: deltaX= 0.271216917672, deltaY = -0.152549667076, deltaZ = -0.0320179686046
Local: deltaX= 0.0793347652305, deltaY = -0.062590122196, deltaZ = -0.0111617136377
Global: deltaX= 0.253703630936, deltaY = -0.152934043634, deltaZ = -0.00159576517969
Local: deltaX= 0.0640171948304, deltaY = -0.0421222727361, deltaZ = -0.0114684484592
Global: deltaX= 0.230373117211, deltaY = -0.133773786022, deltaZ = -0.00446245077392
Local: deltaX= 0.0693228267518, deltaY = -0.0353094852431, deltaZ = -0.00750584826017
Global: deltaX= 0.234651447021, deltaY = -0.120643974786, deltaZ = -0.00197758293801
Local: deltaX= 0.070597283134, deltaY = -0.0277269467254, deltaZ = -0.0117243776197
Global: deltaX= 0.231109803752, deltaY = -0.120464514097, deltaZ = -0.00435475389449
Local: deltaX= 0.060835294554, deltaY = -0.0232539984094, deltaZ = -0.0120140429517
Global: deltaX= 0.212884513024, deltaY = -0.116091955033, deltaZ = -0.00465744562565
Local: deltaX= 0.0647763737743, deltaY = -0.0180949905826, deltaZ = -0.0147324759551
Global: deltaX= 0.210775650207, deltaY = -0.111148227356, deltaZ = -0.00640297622478
Local: deltaX= 0.063235568366, deltaY = -0.0266384654134, deltaZ = -0.0132339826481
Global: deltaX= 0.199986628627, deltaY = -0.125656439037, deltaZ = -0.00504060550356
Local: deltaX= 0.0642171262202, deltaY = -0.0217467133895, deltaZ = -0.0141042617466
Global: deltaX= 0.187512009334, deltaY = -0.122202768702, deltaZ = -0.00646835408488
Local: deltaX= 0.0642086903821, deltaY = -0.0496308995149, deltaZ = -0.0125263435702
Global: deltaX= 0.178695163466, deltaY = -0.148073293487, deltaZ = -0.0044026229682
Local: deltaX= 0.041180784817, deltaY = -0.0508617800624, deltaZ = -0.0151131334771
Global: deltaX= 0.146574288612, deltaY = -0.144198082255, deltaZ = -0.00673255436192
Local: deltaX= 0.0504891237951, deltaY = -0.0534445144926, deltaZ = -0.0128366036016
Global: deltaX= 0.143640409128, deltaY = -0.141429606885, deltaZ = -0.00661084724675
Local: deltaX= 0.0459722429801, deltaY = -0.0668790103839, deltaZ = -0.0275639430336
Global: deltaX= 0.125510726871, deltaY = -0.149567850737, deltaZ = -0.0198182164899
Local: deltaX= 0.0434170610723, deltaY = -0.0744466495916, deltaZ = -0.0318293986088
Global: deltaX= 0.0913463011279, deltaY = -0.140607187236, deltaZ = -0.0221048791947

[Marc-Morcos]

I reran it a few times for 3 minutes and ploted the sqrt(deltaX^2+deltaY^2) (ignore the x axis, its just the number of datapoints)
(on the first run it got stuck at the end and on the last run the whole map drifted off near the end)

[1999michael]

Observations:

• Local seems bumpier, probably due to IMU + smaller magnitude
• Why is IMU included in both global and local? I think IMU is a local sensor right?
• Does global converge (with/without IMU in global) when caffeine is stationary?

[Marc-Morcos]

Stationary:

[Marc-Morcos]

I turned off the IMU in global:

stationary:

moving(this was one of those runs where the gps waypoints happened to align correctly):

[Marc-Morcos]

We have been looking into manually setting values for the covariance matrices to have certain values converge slower (Like X and Y). You can change these settings in odom.yaml . The reason we do this is as you can see in the graphs above, some of our sensors seem to be having spikes of bad data, which we don't want to affect our position estimate above

[1999michael]

Obtaining absolute position ways

1. Some way through gazebo (will require some research)
2. Using a 2nd GPS sensor with 0 drift/error (Caffeine/description/urdf/constants.xacro line 145)

Measuring Localization Performance, we can plot

• difference between odom local topic and absolute position (may deviate overtime, not early)
• difference between odom global topic (with GPS drift) to absolute position (small deviation after convergence)
• difference between odom local topic to odom global topic (with/without GPS drift) (may deviate overtime, not early)

[1999michael]

Note: Previous work done on branch 63, file Caffeine/nav/load_waypoints/scripts/test_gps.py

[1999michael]

Note: Details about non-sensor specific covariances in file Caffeine/odom/config/odom.yaml