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I'm a little confused. You are launching the EKF from robot_localization, but giving it parameters that appear to be from robot_pose_ekf.

<node pkg="robot_localization" type="ekf_localization_node" name="robot_pose_ekf" output="screen">
<param name="output_frame" value="odom_combined"/>
<param name="freq" value="30.0"/>
<param name="sensor_timeout" value="1.0"/>
<param name="odom_used" value="true"/>
<param name="imu_used" value="true"/>
<param name="vo_used" value="false"/>
<param name="debug" value="false"/>
<param name="self_diagnose" value="false"/>
</node>

Please show:

  1. Your robot_pose_ekf config
  2. Your robot_localization config (they should not be the same)
  3. A sample sensor message from every sensor input