ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

0

robot_pose_ekf pubs on robot_pose_ekf/odom but not on robot_pose_ekf/odom_combined

asked 2013-08-26 10:27:31 -0500

dan
855 ●52 ●62 ●76 http://www.fellowrobots.com/

updated 2013-08-26 10:28:41 -0500

I am supplying odometry and Imu data to robot_pose_ekf and it is publishing the transform to base_footprint and the topic robot_pose_ekf/odom correctly. It advertises the topic robot_pose_ekf/odom_combined but rostopic echo shows that nothing is being published on that topic. So I am concerned that it is just using the odometry data sent to it and ignoring the Imu data.

The documentation: http://www.ros.org/wiki/robot_pose_ekf

says it should just be publishing the transform and robot_pose_ekf/odom_combined, not mentioning the topic robot_pose_ekf/odom.

So, what's up? Is the topic robot_pose_ekf/odum what was previously the topic robot_pose_EKF/odom_combined? Or do I need to debug some more to determine why the combined topic is not getting data published?

edit retag flag offensive close merge delete

1 Answer

Sort by » oldest newest most voted

0

answered 2013-08-26 15:27:36 -0500

dan
855 ●52 ●62 ●76 http://www.fellowrobots.com/

Answered. It is because I used the example launch file from the wiki page. In that launch file, the parameter "output_frame" is set to value = "odom" The odom_estimation_node.cpp file uses that parameter to determine the topic advertised, with the default being "odom_combined"

I found it confusing because I was thinking that "output frame" would refer to the tf frame not the published topic name.

edit flag offensive delete link

Comments

You're right, it is confusing. The parameter `output_frame` refers to *both* the tf frame and the name of the published topic.

Martin Günther ( 2013-09-10 23:28:10 -0500 )edit

Question Tools

1 follower

Stats

Asked: 2013-08-26 10:27:31 -0500

Seen: 980 times

Last updated: Aug 26 '13

Related questions

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.

Powered by Askbot version 0.10.2