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I would suggest fusion of imu and odometry/twist and then see how to bring gps into play. Your ekf_loc_odom seem to do nothing, but maybe its in the yaml files? The covariances in the imu msg seem od, Zero and -1.0 link text

Regarding your picture: Odom frame and base_link frame are 10 cells linear_x appart. If the cell size is one meter thats where your "data" ended up. Once again I would suggest sensor fusion of odom and imu in an ekf_node (without gps at first) and see what that turns up. Your odom --> base_link transform seem to come from ekt_loc_odom and as mentioned seems to be the 10 meters expected. This would imply that the other ekf node generaates the tf from map --> odom. Your odom start position x=0, y=0, orientation=0, would be transformed by the gps. Thus the curve that we see from map to odom and base_link is likely a gps transform.

I would suggest fusion of imu and odometry/twist and then see how to bring gps into play. Your ekf_loc_odom seem to do nothing, but maybe its in the yaml files? The covariances in the imu msg seem od, Zero and -1.0 link text but maybe thats not an issue, just something that made me wonder.

Regarding your picture: Odom frame and base_link frame are 10 cells linear_x appart. If the cell size is one meter thats where your "data" ended up. Once again I would suggest sensor fusion of odom and imu in an ekf_node (without gps at first) and see what how that turns up. out. Your odom --> base_link transform seem to come from ekt_loc_odom and as mentioned seems to be the 10 meters expected. This would imply that the other ekf node generaates generates the tf from map --> odom. Your odom start position x=0, y=0, orientation=0, would be transformed by the gps. Thus the curve that we see from map to odom and base_link is likely a gps transform.