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Remapping IMU data in launch file

asked 2014-08-01 06:06:48 -0500

Hello there!

I am very new to ROS so forgive me if that's too easy question. I was trying to find some information on this forum and on ros wiki but couldn't find any.

I want to use hector_slam for my mapping project and right now I am experimenting with IMU data and hector_imu_attitude_to_tf . What I am trying to achieve now is to transform my IMU data to tf. My understanding is that in order to do that I need to publish my IMU data on imu_topic.

For experimenting with those ideas I downloaded some bag file with IMU data and created the following simple launch file:

<launch>

<node pkg="hector_imu_attitude_to_tf" type="imu_attitude_to_tf_node" name="imu_attitude_to_tf_node" output="screen"> <remap from="auk/fcu/imu" to="imu_topic"/> </node>

</launch>

/auk/fcu/imu is the IMU topic on which my bag file publishes. After launching the file rostopic list command lists imu_topic but unfortunately nothing is being published to that topic. The same is with /tf topic. After running roswtf I got the following message:

WARNING The following node subscriptions are unconnected: * /imu_attitude_to_tf_node: * /imu_topic

Should my /imu_topic point to the same data as /auk/fcu/imu ? I would be grateful for any tips about what I might be doing wrong.

I don't know if it's relevant but I am using ROS Hydro on Ubuntu 12.04.

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answered 2014-08-01 09:11:34 -0500

bvbdort gravatar image

Here your node expects data on imu_topic but its available on auk/fcu/imu

<remap from="imu_topic" to="auk/fcu/imu"/>

OR

you can change topic while playing your bag file like

rosbag play bag_file.bag /auk/fcu/imu:=/imu_topic
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Thank you for your suggestion! Unfortunately changing launch file as you suggested didn't work for me. Does it matter in which node do I try to remap? Luckily changing topic in bag file worked! For now I will stick with that.

msadowski gravatar image msadowski  ( 2014-08-01 13:27:55 -0500 )edit

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Asked: 2014-08-01 06:06:48 -0500

Seen: 724 times

Last updated: Aug 01 '14