The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
In what kind of message is the velocity data being reported? You need to make sure the message type is supported by your r_l state estimation node, and you also need to make sure the sensor frames are specified correctly. Maybe if you provided some sample messages?
| | 2 | No.2 Revision |
In what kind of message is the velocity data being reported? You need to make sure the message type is supported by your r_l state estimation node, and you also need to make sure the sensor frames are specified correctly. Maybe if you provided some sample messages?
EDIT in response to updates and comments:
My big concern is why IMU is not aligned to the ASV trajectory and how to improve it.
In what way is it not aligned? Are you saying that the USV's heading in rviz does not point in the direction of its motion? This suggests that you perhaps have your magnetic declination improperly configured. You should include your navsat_transform_node configuration in the question as well. But I took a peek at the repo, and I see this:
yaw_offset: 0.0
That means that your IMU is reporting 0 radians when facing East, which is not common for IMUs. Are you sure that's correct? Can you show me a screen cap of what you're seeing?
| | 3 | No.3 Revision |
In what kind of message is the velocity data being reported? You need to make sure the message type is supported by your r_l state estimation node, and you also need to make sure the sensor frames are specified correctly. Maybe if you provided some sample messages?
EDIT in response to updates and comments:
My big concern is why IMU is not aligned to the ASV trajectory and how to improve it.
In what way is it not aligned? Are you saying that the USV's heading in rviz does not point in the direction of its motion? This suggests that you perhaps have your magnetic declination or yaw offset is improperly configured. You should include your navsat_transform_node configuration in the question as well. But I took a peek at the repo, and I see this:
yaw_offset: 0.0
That means that your IMU is reporting 0 radians when facing East, which is not common for IMUs. Are you sure that's correct? Can you show me a screen cap of what you're seeing?
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.