track_odometry package

track_odometry

track_odometry node compensates translational slip based on angular slip estimation based on IMU data.

Subscribed topics

• /odom_raw (new: odom_raw) [nav_msgs::Odometry]
• /imu (new: imu/data) [sensor_msgs::Imu]
• ~/reset_z (new: reset_odometry_z) [std_msgs::Float32]
• /tf

Published topics

• /odom (new: odom) [nav_msgs::Odometry]
• /tf

Services

Called services

Parameters

• “base_link_id” (string, default: std::string(“”))
• “base_link_projected_id” (string, default: std::string(“base_link_projected”))
• “z_filter” (double, default: 0.99)
• “tf_tolerance” (double, default: 0.01)
• “use_kf” (bool, default: true)
• “enable_negative_slip” (bool, default: false)
• “debug” (bool, default: false)
• “sigma_odom” (double, default: 0.005)
• “sigma_predict” (double, default: 0.5)
• “predict_filter_tc” (double, default: 1.0)

---

tf_projection

stub

Changelog for package track_odometry

0.18.0 (2025-05-13)

0.17.7 (2025-04-16)

0.17.6 (2025-03-18)

0.17.5 (2025-02-21)

0.17.4 (2025-01-20)

0.17.3 (2024-12-25)

0.17.2 (2024-11-07)

0.17.1 (2024-03-22)

0.17.0 (2023-11-02)

0.16.0 (2023-09-14)

0.15.0 (2023-08-30)

0.14.2 (2023-07-31)

0.14.1 (2023-07-07)

0.14.0 (2023-06-06)

0.13.0 (2023-05-31)

0.12.2 (2023-02-28)

0.12.1 (2023-02-25)

0.12.0 (2023-01-30)

0.11.8 (2022-12-28)

0.11.7 (2022-08-05)

0.11.6 (2022-07-20)

0.11.5 (2022-07-06)

0.11.4 (2022-04-13)

0.11.3 (2021-12-02)

0.11.2 (2021-11-08)

0.11.1 (2021-10-29)

0.11.0 (2021-08-30)

0.10.11 (2021-06-21)

0.10.10 (2021-03-18)

0.10.9 (2021-03-16)

0.10.8 (2021-03-10)

0.10.7 (2021-03-07)

0.10.6 (2021-01-28)

0.10.5 (2020-12-24)

0.10.4 (2020-11-12)

0.10.3 (2020-10-22)

0.10.2 (2020-10-07)

0.10.1 (2020-08-26)

0.10.0 (2020-08-06)

• Increase initialization timeout in the tests (#536)
• Contributors: Atsushi Watanabe

0.9.1 (2020-07-16)

0.9.0 (2020-07-02)

0.8.8 (2020-06-15)

0.8.7 (2020-05-22)

0.8.6 (2020-05-15)

• Fix duplicated tf timestamp (#494)
• track_odometry: increase transform timeout in tests (#490)
• Contributors: Atsushi Watanabe

0.8.5 (2020-05-04)

0.8.4 (2020-04-30)

• Clean unused dependencies (#472)
• Contributors: Atsushi Watanabe

0.8.3 (2020-04-26)

0.8.2 (2020-04-07)

• track_odometry: add option to align all postures to source frame (#447)
• Support Noetic (#461)
• track_odometry: add enable_tcp_no_delay option to reduce latency (#456)
• track_odometry: use double instead of float (#455)
• Contributors: Atsushi Watanabe, Naotaka Hatao, Yuta Koga

0.8.1 (2020-03-12)

• track_odometry: increase queue sizes of message_filters::Subscriber (#450)
• Contributors: Naotaka Hatao

0.8.0 (2020-03-04)

0.7.0 (2020-02-04)

0.6.0 (2020-01-18)

0.5.1 (2020-01-06)

• track_odometry: fix test stability (#412)
• Fix header namespaces (#408)
• Migrate from C math functions to C++ (#407)
• Contributors: Atsushi Watanabe

0.5.0 (2019-10-21)

0.4.3 (2019-09-10)

0.4.2 (2019-08-19)

0.4.1 (2019-08-15)

• track_odometry: synchronize Odometry and IMU (#363)
• Drop ROS Indigo and Ubuntu Trusty support (#310)
• Fix include directory priority (#308)
• Contributors: Atsushi Watanabe

0.4.0 (2019-05-09)

• track_odometry: fix z_filter unit to seconds (#290)
• track_odometry: add project_posture option to tf_projection node (#286)
• track_odometry: refactor tf_projection (#285)
• track_odometry: set missing child_frame_id in tf_projection (#283)
• Contributors: Atsushi Watanabe, Yuta Koga

0.3.1 (2019-01-10)

• Fix pointer alignment style (#233)
• Migrate tf to tf2 (#230)
• track_odometry: add test (#208)
• Fix catkin package definitions (#206)
• Contributors: Atsushi Watanabe, So Jomura

0.2.3 (2018-07-19)

• Fix test names (#202)
• Contributors: Atsushi Watanabe

0.2.2 (2018-07-17)

0.2.1 (2018-07-14)

0.2.0 (2018-07-12)

• Fix build on Indigo (#180)
• Fix namespace migration messages (#174)
• Fix topic/service namespace model (#168)
• Fix package dependencies (#167)
• Update package descriptions and unify license and version (#165)
• Use neonavigation_msgs package (#164)
• track_odometry: use timer instead of spinOnce (#122)
• track_odometry: fix eigen include dir (#115)
• track_odometry: use position diff instead of twist.linear (#113)
• track_odometry: overwrite odometry child_frame_id (#112)
• track_odometry: fix naming style. (#91)
• track_odometry: add publish_tf option. (#78)
• Remove dummy dep to system_lib. (#51)
• Support package install. (#45)
• Fix coding styles. (#39)
• track_odometry: adds an option to use without odometry input (#30)
• track_odometry: tf_projection: adds parameter to add tf timestamp offset (#21)
• track_odometry: tf_projection: adds option to eliminate roll/pitch (#20)
• track_odometry: refactors tf_projection test code (#19)
• track_odometry: removes projected tf output and add tf_projection node (#17)
• adds READMEs (#11)
• track_odometry: suppresses warnings until receiving first message
• track_odometry: implements kalman filter (#9)
• track_odometry: fixes delta time and buffering
• track_odometry: uses latest transform between imu and base_link
• Subtree-merge 'track_odometry' package
• Contributors: Atsushi Watanabe