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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?

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?

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?

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?

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