Revision history [back]

The wiki page of robot_pose_ekf says that all poses are robot poses. So every source of information should publish pose information of the robot (and not the sensor). REP 105 could help you to understand odometry frames. If your odometry source publishes sensor movements you will have to transform this to robot movements.

Have a look at viso2_ros::OdometerBase::integrateAndPublish() for an example of how to transform sensor pose information to robot pose information using tf.