Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

I found out that in my wam_v_ekf.yaml file, I set the third raw of odom0_config, which odom0 is the output of navsat_transform_node, to true. While in /odometry/gps there is not any twist information and zero covariance matrix. So if I fused this measurement to my filter, the output linear velocity will be extremely small.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.