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 | 1 | initial version |
It looks like you're using a simulated Jackal. Looking at the r_l config for the Jackal, you can see that the yaw data from the IMU is being fused. Therefore, if at time t0, your simulated IMU reports a non-zero yaw, then the filter is going to reflect that. If you want it to start with 0 yaw even when the IMU doesn't, turn on relative mode.
| | 2 | No.2 Revision |
It looks like you're using a simulated Jackal. Looking at the r_l config for the Jackal, you can see that the yaw data from the IMU is being fused. Therefore, if at time t0, your simulated IMU reports a non-zero yaw, then the filter is going to reflect that. If you want it to start with 0 yaw even when the IMU doesn't, turn on relative mode.relative mode for that sensor (i.e., imu0_relative: true).
| | 3 | No.3 Revision |
It looks like you're using a simulated Jackal. Looking at the r_l config for the Jackal, you can see that the yaw data from the IMU is being fused. Therefore, if at time t0, your simulated IMU reports a non-zero yaw, then the filter is going to reflect that. If you want it to start with 0 yaw even when the IMU doesn't, turn on relative mode for that sensor (i.e., imu0_relative: true).
Edit in response to comments
First, the template launch file is just that: a template. It's meant to show you what parameters are available to you, but isn't actually used by the nodes in r_l. The various parameters, where appropriate, do have default values if not specified, and you are correct that the _relative parameter defaults to false.
Second, note that moving the odom frame origin is equivalent to setting the robot's pose in the odom frame. You can use the set_pose service for that.
| | 4 | No.4 Revision |
It looks like you're using a simulated Jackal. Looking at the r_l config for the Jackal, you can see that the yaw data from the IMU is being fused. Therefore, if at time t0, your simulated IMU reports a non-zero yaw, then the filter is going to reflect that. If you want it to start with 0 yaw even when the IMU doesn't, turn on relative mode for that sensor (i.e., imu0_relative: true).
Edit in response to comments
First, the template launch file is just that: a template. It's meant to show you what parameters are available to you, but isn't actually used by the nodes in r_l. The various parameters, where appropriate, do have default values if not specified, and you are correct that the _relative parameter defaults to false.
Second, note that moving the odom frame origin is equivalent to setting the robot's pose in the odom frame. You can use the set_pose service for that.
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