[ekf_node-1] terminate called after throwing an instance of 'rclcpp::ParameterTypeException' [ekf_node-1] what(): expected [string] got [not set]
Hello,
Thanks in advance for your help!
I'm having a nightmare trying to figure out what's wrong with my code. I just installed ros2 galactic and I'm running the code that works on ros2 foxy. When I launch the robot_localization package it works fine on ros2 foxy, but in galactic I'm having this error:
[ekf_node-1] terminate called after throwing an instance of 'rclcpp::ParameterTypeException' [ekf_node-1] what(): expected [string] got [not set]
I changed to galactic because It has a lot of improvements that are very useful for my thesis project so It would be much appreciated some help to get it to work in this distro.
Here is the screenshot of the terminal:
This is my configuration file:
ekf_filter_node:
ros__parameters:
two_d_mode: false
publish_acceleration: false
publish_tf: true
map_frame: map
odom_frame: odom
base_link_frame: base_link
world_frame: odom
odom0: /lgsvl/gps/odom
odom0_config: [true, true, true,
false, false, false,
false, false, false,
false, false, true,
false, false, false]
imu0: /lgsvl/imu
imu0_config: [false, false, false,
true, true, true,
false, false, false,
false, false, false,
false, false, false]
process_noise_covariance: [0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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, 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, 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, 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, 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, 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,
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, 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, 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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01 ...
can you try to take the topic names into string forms for example change
imu0: /lgsvl/imu
to"imu0: /lgsvl/imu"
and apply that to all strings.Unfortunately, it didn't work. The same error is shown.