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MuSHR is an open-source robotics platform for learning and researching AI with autonomous vehicles.

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Rviz Issue

December 28, 2020 at 9:42am
Hello Navigation testing is in progress and the actual vehicle position does not match on the rviz. I am using the Autonomous Navigation.
roslaunch mushr_base teleop.launch roslaunch mushr_pf real.launch roslaunch mushr_rhc_ros real.launch rviz
I am using the command above. The attached file is a video of the rviz screen. The vehicles are moving in numerical order.
pic1.pngpic2.pngpic3.pngpic4.png

December 28, 2020 at 6:15pm
Hi (jakhome1) - It looks like the car is in the correct position in the last image you posted. Are you saying that once the car starts moving, the particle filter no longer predicts the correct position? Also, have you tuned your car's odometry parameters according to this tutorial: https://mushr.io/tutorials/tuning/
During one round of the track, the particle filter continues to hold a strange position and only recognizes the last part accurately. When the vehicle is moving, the particle filter will not normally predict the correct position. https://mushr.io/tutorials/tuning/ I've tuned the value by referring to this site and I'll try tuning it again.
I see, let us know if re-tuning helps at all

January 4, 2021 at 7:39am
There is a problem even after tuning. The same symptoms continue to occur.

January 4, 2021 at 6:59pm
Hey (jakhome1) it's not clear what the source of the problem is from the images. Could you provide similar images but with /car/pf/viz/particles visualized?

January 5, 2021 at 7:14am
Which command should I use? Can I use rostopic echo?

January 6, 2021 at 4:37pm
in rviz you can click ADD --> By Topic and then select the topic name