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

Revision history [back]

A bunch of things.

  1. First, do a rostopic info and make sure that the EKF is subscribed to the topic.
  2. You have your EKF world_frame set to odom. That means the EKF is going to try to transform all pose data into the odom frame before using it. If there's no transform available from map->odom, the EKF can't use your map frame data. So it ignores your odometry.
  3. You have your EKF base_link frame set to base_link, but your odometry data has a child_frame_id of bicycle. Again, the EKF will need to transform from bicyle->base_link if you want it to use that data.