Hi all,

I am using robotlocalization and gmapping, and I am having problems. I am fusing odometry and imu measurements with the ekf node included with robotlocalization. When the robot spins in place, the odometry and the imu both report approximately the correct value as soon as the robot starts spinning. The ekf node, however, does not reflect the turn until ~2 seconds after the robot starts spinning. I have tried this multiple times and with multiple different speeds, and I get the same consistent ~2 second delay. I tried to double my filtering frequency from 30 to 60 Hz to try and fix the problem, but it didn't work.

Is this a bug with robot_localization or could this somehow be in my setup? There doesn't seem to be anything in the parameters that would cause this.

Thanks in advance