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PlanExWP6_IMU-EKF

Code produced as part of the Technical University Berlin Summer Semester 2020 Course "Planetary Exploration and Space Robotics" simulation_controller_gui

Extended Kalman Filter

Description

Simulation with IMU Filter utilizing EKF and inertial sensor fusion.

Requirements

Make sure following packages are installed:

sudo apt install ros-melodic-desktop-full
sudo apt-get install ros-melodic-gazebo-ros-pkgs
sudo apt-get install ros-melodic-gazebo-ros-control
sudo apt-get install ros-melodic-joint-state-publisher-gui
sudo apt-get install ros-melodic-hector-gazebo-pugins
sudo apt install ros-melodic-turtlebot3-description
sudo apt install ros-melodic-turtlebot3-gazebo
pip2 install matplotlib
pip2 install numpy
pip2 install pandas

Execution steps

  1. Clone Repository:
git clone [email protected]:WhatWheatleySaid/PlanExWP6_IMU-EKF.git
  1. Navigate to ...repo/rosws
catkin_make
source devel/setup.bash
  1. Start simulations
roscore
roslaunch sr_ros_navi_tutorial turtlebot_sim.launch

Delete model/ros_symbol to remove the arena.

  1. Start Simulation controller Navigate to repo/rosws/src/wp6imufilter/src/
python2 simulationcontroller.py

or type

rosrun wp6imufilter simulationcontroller.py

This assumes, that the shebang-line inside the simulationcontroller.py points towards your python2 installation.

  1. Start Turtlebot rqt controller for setting forward velocity and turning rate
rqt

In the dropdown menus locate

Plugins/robot tools/robot steering

Tuning EKF parameters

in file

repo/rosws/src/wp6imufilter/src/kalman/ori_estimation.py

change V and W multiplicators

add Bias

in file

repo/rosws/src/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro

under plugins imu_sensor and magnetic_sensor, add offset,drift and/or Gaussian Noise.