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robot_localization has consistent delay

asked 2015-07-21 18:37:09 -0500

Robocop87 gravatar image

Hi all,

I am using robot_localization and gmapping, and I am having problems. I am fusing odometry and imu measurements with the ekf node included with robot_localization. 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

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answered 2015-07-24 16:28:47 -0500

Tom Moore gravatar image

It's hard to say without a launch file or sample data. My first suspicion is that your covariances are the culprit, but I'd need to see more information.

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Hi Tom, thank you for all of the answers you have been providing for my robot_localization questions, and I apologize again for my delay in seeing them all. I will play with my covariances and see if that changes the delay time.

Robocop87 gravatar image Robocop87  ( 2015-08-06 08:04:03 -0500 )edit

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Asked: 2015-07-21 18:37:09 -0500

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Last updated: Jul 24 '15