{"action":"created","issue":{"url":"https://api.github.com/repos/ihmcrobotics/ihmc-open-robotics-software/issues/51","repository_url":"https://api.github.com/repos/ihmcrobotics/ihmc-open-robotics-software","labels_url":"https://api.github.com/repos/ihmcrobotics/ihmc-open-robotics-software/issues/51/labels{/name}","comments_url":"https://api.github.com/repos/ihmcrobotics/ihmc-open-robotics-software/issues/51/comments","events_url":"https://api.github.com/repos/ihmcrobotics/ihmc-open-robotics-software/issues/51/events","html_url":"https://github.com/ihmcrobotics/ihmc-open-robotics-software/issues/51","id":163650575,"number":51,"title":"Integration of laser-based localization","user":{"login":"simalpha","id":10845170,"avatar_url":"https://avatars.githubusercontent.com/u/10845170?v=3","gravatar_id":"","url":"https://api.github.com/users/simalpha","html_url":"https://github.com/simalpha","followers_url":"https://api.github.com/users/simalpha/followers","following_url":"https://api.github.com/users/simalpha/following{/other_user}","gists_url":"https://api.github.com/users/simalpha/gists{/gist_id}","starred_url":"https://api.github.com/users/simalpha/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/simalpha/subscriptions","organizations_url":"https://api.github.com/users/simalpha/orgs","repos_url":"https://api.github.com/users/simalpha/repos","events_url":"https://api.github.com/users/simalpha/events{/privacy}","received_events_url":"https://api.github.com/users/simalpha/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":7,"created_at":"2016-07-04T10:43:57Z","updated_at":"2016-08-31T14:44:54Z","closed_at":"2016-07-06T02:29:50Z","body":"@dljsjr: I am introducing a laser-based module to correct the drift in Valkyrie's state estimation. I am subscribing /ihmc_ros/valkyrie/output/robot_pose message generated by the IHMC state estimator, computing a correction using ICP-based point clouds registration and publishing a corrected pose.\r\n\r\nIt would be great if the state estimator could read this message and update the state. Would you be happy to re-introduce the interface for this in the IHMC code base? I refer to the topics  /ihmc_ros/localization/pelvis_odom_pose_correction and /ihmc_ros/localization/pelvis_pose_correction which do not seem to be active anymore."},"comment":{"url":"https://api.github.com/repos/ihmcrobotics/ihmc-open-robotics-software/issues/comments/243787252","html_url":"https://github.com/ihmcrobotics/ihmc-open-robotics-software/issues/51#issuecomment-243787252","issue_url":"https://api.github.com/repos/ihmcrobotics/ihmc-open-robotics-software/issues/51","id":243787252,"user":{"login":"dljsjr","id":444635,"avatar_url":"https://avatars.githubusercontent.com/u/444635?v=3","gravatar_id":"","url":"https://api.github.com/users/dljsjr","html_url":"https://github.com/dljsjr","followers_url":"https://api.github.com/users/dljsjr/followers","following_url":"https://api.github.com/users/dljsjr/following{/other_user}","gists_url":"https://api.github.com/users/dljsjr/gists{/gist_id}","starred_url":"https://api.github.com/users/dljsjr/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dljsjr/subscriptions","organizations_url":"https://api.github.com/users/dljsjr/orgs","repos_url":"https://api.github.com/users/dljsjr/repos","events_url":"https://api.github.com/users/dljsjr/events{/privacy}","received_events_url":"https://api.github.com/users/dljsjr/received_events","type":"User","site_admin":false},"created_at":"2016-08-31T14:44:54Z","updated_at":"2016-08-31T14:44:54Z","body":"You are correct in your understanding.\r\n\r\nThe reason for the first safety is because stuff blows up when the correction is very large.\r\n\r\nThe reason for the second safety is because the localizer we used when this was developed updated at a much much faster rate than every 6 seconds, so if the robot was stationary and the corrections had converged then there would be noise about the true pose that would cause the robot to wiggle around.\r\n\r\nI've also recently been informed that there's a good chance only the translational component of the pose corrector works, and that the orientation correction gets ignored. I'm investigating that a little more."}}
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