ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Revision history [back]

A couple things.

  1. Please get rid of all the advanced parameters, such as the rejection thresholds. Also turn of use_control. Those really are meant for advanced usage. What I typically recommend is that you start with a single sensor and a simple config, then work your way up.
  2. Looking at your configuration, you are fusing yaw as an absolute pose variable from your odometry and from the IMU. So let's say your wheel odometry says you have a yaw of 0. Then you pick up your IMU and rotate it. Now you have one data source that reads 0, and another that reads non-zero. I would expect the filter to settle on a value in between them, but it really depends on your covariances. You may also have an issue with your IMU data.

You didn't include sample sensor messages, so I can't comment on whether your IMU and wheel encoder data need any changes, but certainly issue (2) above would be a big problem.