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Sorry, dropped the ball on this question. I see a couple things:

  1. The most glaring issue is that your only nav_msgs/Odometry input starts with odom1. Per the wiki, for each input message type, you have to start the index at 0. In other words, change odom1 to odom0 everywhere in your configuration. As it is now, the EKF is ignoring that input.

  2. Not critical, but you have your IMU configured to provide X and Y position data (first two true values in odom1_config). Those will be ignored, since we only take in orientation, angular velocity, and linear acceleration from IMUs.