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I guess the output of robot_pose_ekf is inconsistent or you have a problem with your laser sensor. A few things I would try:

  • Try use AMCL together with unfiltered odometry. If it is working, the problem lies in your EKF implementation. Otherwise it is probably caused by your laser sensor.

  • Make sure your units are correct, i.e. the output of odometry (and of the filtered odometry coming from the EKF) must be in meters, velocities must be in m/s. Laser range data must also be in meters.

  • Make sure that your laser sensor is configured properly. Visualize it using rviz and check if obstacles appear at correct positions.

  • If the problem lies in EKF, consider disabling GPS and only use IMU and raw odometry. Consider trying robot_pose_ekf just to verify that the problem is not caused by the integration of GPS.