ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
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.