robot_pose_ekf is not active
hello ı need to use robot_pose_ekf to publish odom for gmapping. ı see my imu data but still robot_pose_ekf not active. I use static transform publisher imu to base_footprint. what ı should to do for that ?
this is my result of $ rosservice call /robot_pose_ekf/get_status:
http://i.imgur.com/Fp4mQNM.png
status: Input:
* Odometry sensor
- is NOT active
- received 0 messages
- listens to topic /odom
* IMU sensor
- is active
- received 5907 messages
- listens to topic /imu_data
* Visual Odometry sensor
- is NOT active
- received 0 messages
- listens to topic
Output:
* Robot pose ekf filter
- is NOT active
- sent 0 messages
- pulishes on topics /robot_pose_ekf/odom_combined and /tf
mine robot_pose_ekf launch file :
<launch>
<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
<param name="output_frame" value="odom"/>
<param name="base_footprint_frame" value="base_footprint"/>
<param name="freq" value="30.0"/>
<param name="sensor_timeout" value="1.0"/>
<param name="odom_used" value="false"/>
<param name="imu_used" value="true"/>
<param name="vo_used" value="false"/>
</node>
</launch>