ekf_localization_node no output
Hello everyone I am a beginner with ROS, and want to test things with the ekf_localization_node (I use ROS Jade and Ubuntu 14.04)
So, I simulated a 2-wheeled robot in a 2D environment in Matlab. Typically, a robot that goes away from its charging station to reach a target. Now, I want to test the ekf_localization node to implement it soon on hardware(mobile robot with wheel encoders and gyro output signals), after I know it is at least possible
I extracted log files from my simulation (equivalent to odometry): x velocity, y velocity and yaw velocity.
image:
--> it was converted into a geometry_msgs/TwistWithCovarianceStamped to test it with the ekf_localization_node. Here is my launchfile
<launch>
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true">
<param name="frequency" value="20"/>
<param name="sensor_timeout" value="0.06"/>
<param name="two_d_mode" value="true"/>
<!-- Defaults to "odom" if unspecified -->
<param name="odom_frame" value="odom"/>
<!-- Defaults to "base_link" if unspecified -->
<param name="base_link_frame" value="base_link"/>
<!-- Defaults to the value of "odom_frame" if unspecified -->
<param name="world_frame" value="odom"/>
<param name="twist0" value="/twist_input1"/>
<param name="transform_time_offset" value="0.0"/>
<rosparam param="twist0_config">[false, false, false,
false, false, false,
true, true, false,
false, false, true,
false, false, false]</rosparam>
<param name="twist0_differential" value="true"/>
<param name="twist0_relative" value="true"/>
<param name="print_diagnostics" value="true"/>
<!-- ======== ADVANCED PARAMETERS ======== -->
<param name="twist0_queue_size" value="2"/>
<param name="debug" value="false"/>
<!-- Defaults to "robot_localization_debug.txt" if unspecified. -->
<param name="debug_out_file" value="debug_ekf_localization.txt"/>
<rosparam param="process_noise_covariance">[0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015]</rosparam>
<rosparam param="initial_estimate_covariance">[1e-9, 0, 0, 0, 0, 0, 0, 0, 0 ...