Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Now, transform odom->base_link works. I can get data from odometry/filtered.But tf tree seems wrong.

I think I have the same problem with nbeyers. sample input message: rostopic echo -n 1 husky1/imu/data header: seq: 126441 stamp: secs: 2529 nsecs: 140000000 frame_id: base_link orientation: x: 8.24817187477e-05 y: -1.54054925496e-05 z: -0.000118581523633 w: 0.999999989449 orientation_covariance: [2.6030820491461885e-07, 0.0, 0.0, 0.0, 2.6030820491461885e-07, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: -0.000469267629483 y: 0.00348299595008 z: 0.00112975030799 angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] linear_acceleration: x: 0.00478306465545 y: 0.00630121064874 z: 9.80227133955

linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05]

Now, transform odom->base_link works. I can get data from odometry/filtered.But tf tree seems wrong.

wrong. image description

I think I have the same problem with nbeyers. sample input message: message:

rostopic echo -n 1  husky1/imu/data
header: 
  seq: 126441
  stamp: 
    secs: 2529
    nsecs: 140000000
  frame_id: base_link
orientation: 
  x: 8.24817187477e-05
  y: -1.54054925496e-05
  z: -0.000118581523633
  w: 0.999999989449
orientation_covariance: [2.6030820491461885e-07, 0.0, 0.0, 0.0, 2.6030820491461885e-07, 0.0, 0.0, 0.0, 0.0]
angular_velocity: 
  x: -0.000469267629483
  y: 0.00348299595008
  z: 0.00112975030799
angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05]
linear_acceleration: 
  x: 0.00478306465545
  y: 0.00630121064874
  z: 9.80227133955

9.80227133955 linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05]

2.5e-05] ---