PlanExWP6_IMU-EKF

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

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 git@github.com:WhatWheatleySaid/PlanExWP6_IMU-EKF.git

2. Navigate to ...repo/rosws

catkin_make
source devel/setup.bash

3. Start simulations

roscore
roslaunch sr_ros_navi_tutorial turtlebot_sim.launch

Delete model/ros_symbol to remove the arena.

4. 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.

5. 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.