ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
It depends on what data you are fusing in the filter. If you fuse pose data in the odom frame into an EKF whose world_frame
parameter is set to map, then you will probably not like the results. If you are fusing velocity data, then it will work fine, as the velocity data is reported in the message's child_frame_id
, which just gets transformed to your EKF's base_link_frame
.
In any case, it will be a lot easier for me to answer if you post sample input messages from all inputs, and also post your EKF configurations.