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the default values of covariances of robot's odometry is zero, and according to http://ros.org/wiki/robot_pose_ekf/Troubleshooting the diagonal elements of the covariance matrix cannot be zero, so what about that? i have to set my own covariances? how can i calculate them?

Also according to http://www.ros.org/doc/api/nav_msgs/html/msg/Odometry.html Odometry has 2 part containing pose & twist, but the output of robot_pose_ekf and according to http://www.ros.org/doc/api/geometry_msgs/html/msg/PoseStamped.html geometry_msgs/PoseStamped has only Pose part!

thanks for your help.