Revision history [back]

Try to find where the robot_pose_ekf is started for your robot (that depends on the base if I am not mistaken). Should look something like this:

<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
<remap from="imu_data" to="imu/data"/>
<param name="freq" value="10.0"/>
<param name="sensor_timeout" value="1.0"/>
<param name="publish_tf" value="true"/>
<param name="odom_used" value="true"/>
<param name="imu_used" value="true"/>
<param name="vo_used" value="false"/>
<param name="output_frame" value="odom"/>
</node>

And change it to

<node  pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" >
<param name="freq" value="30.0"/>
<param name="sensor_timeout" value="1.0"/>
<param name="publish_tf" value="true"/>
<param name="odom_used" value="true"/>
<param name="imu_used" value="true"/>
<param name="vo_used" value="false"/>
<param name="output_frame" value="odom"/>
<remap from="odom" to="$(arg robot_name)/odom"/>
</node>

Pay attention to the last line before </node>. Where you set robot_name to pinky.

Hope that helps. Did the trick for me if I remember correctly but it has been a while.