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Your abs_orientation message has a frame_id of world. Are you providing a static transform to convert that to map? If the EKF can't transform the input data to map, odom, or base_link, it can't use it.

Also, you should turn on two_d_mode. I'd also turn off control as an input until you get the rest working.

Your abs_orientation message has a frame_id of world. Are you providing a static transform to convert that to map? If the EKF can't transform the input data to map, odom, or base_linkbase_footprint, it can't use it.

Also, you should turn on two_d_mode. I'd also turn off control as an input until you get the rest working.

Your abs_orientation message has a frame_id of world. Are you providing a static transform to convert that to map? If the EKF can't transform the input data to map, odom, or base_footprint, it can't use it.

Also, you should turn on two_d_mode. I'd also turn off control as an input until you get the rest working.

EDIT: your time stamps in abs_orientation are also not filled out. Time stamps matter to the state estimation nodes.