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# Revision history [back]

I noticed through rxgraph that the Fake laser that is generated in the nodelets are not working as expected. i.e. the cloud_throttle is not being published which in turn is used to get the /narrow_scan (Actual fake laser). Figured out that the problem is with the nodelet manager not being started. Hence i ran the openni_manager externally using the following command

rosrun nodelet nodelet manager __name:=openni_manager


Now i was getting a message that the "Waiting for transform between the /base_link and /odom". Realized that the tf tree has odom_combined and not odom. Actually the robot_pose_ekf gives the odom_frame_id as string "odom_combined" and not as "odom". Hence the following line is to be added to the above launch file under ekf node launch

<param name="output_frame" value="odom" />


This solves the issue. Hope this helps!!!

Karthik