robot pose ekf

edit

Hi all, i'm trying to make this node run just with my IMU Microstrain 3DM-GX3-25. For this I use the node provided here.

If I run them as they are the IMU is outputting the data correctly, while the ekf node is receiving nothing.

Then i realized that the ekf node is subscribing to imu_data topic and the driver is publishing on imu/data

I changed the code of ekf to make it subscribing to imu/data but it's still waiting for ever.

I'm using Hydro on Ubuntu 12.04, and I modified the launch file to use only the IMU info (no odom, no vo).

Any suggestions?

EDIT: in addition I always receive an error when I start the IMU

[ERROR] [1395392758.782776169]: Imu: calibration check failed: average angular drift = 57.875961 mdeg/sec > 11.459156 mdeg/sec

but the IMU is shooting data anyway so it should work anyway.

EDIT2: the callback returns here:

if (!robot_state_.waitForTransform(base_footprint_frame_, imu->header.frame_id, imu_stamp_, ros::Duration(0.5))) {
    // warn when imu was already activated, not when imu is not active yet
    if (imu_active_)
        ROS_ERROR("Could not transform imu message from %s to %s", imu->header.frame_id.c_str(), base_footprint_frame_.c_str());
    else if (my_filter_.isInitialized())
        ROS_WARN("Could not transform imu message from %s to %s. Imu will not be activated yet.", imu->header.frame_id.c_str(), base_footprint_frame_.c_str());
    else
        ROS_DEBUG("Could not transform imu message from %s to %s. Imu will not be activated yet.", imu->header.frame_id.c_str(), base_footprint_frame_.c_str());
    return;
}

The stupid thing is that i don't see any WARN or ERROR on the screen...