robot_localization gps compass

edit

Hello again: My system is this:

• Compass: only has data yaw with 10 hz of frecuency. When is facing to the East reads 0 when facing North reads pi/2. Yaw_offset of navsat 0. And tf between base_link and compass (R, P, Y) -> (0, 0, 0) and (X, Y, Z) -> (0, 0, 0)
• GPS: 1 hz of frecuency.
• Have a publishing IMU 100 hz.And I'm not sure it will work with the final implementation.

The launch file is the next:

<!-- Launch file -->
    <launch>

       <param name="/use_sim_time" value="true" />
       <node pkg="rosbag" type="play" name="rosbagplay" args="/home/jorge_j/parking_imu_compass_1_9_f.bag --clock -d 3" required="true"/>

       <node pkg="tf2_ros" type="static_transform_publisher" name="bl_imu" args="0.0 0.0 0.0 0.0 0.0 0 1.0 base_link imu" /> 
       <node pkg="tf2_ros" type="static_transform_publisher" name="bl_compass" args="0.0 0.0 0.0 0.0 0.0 0 1.0 base_link compass" /> 
       <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true">

           <param name="frequency" value="30"/>
           <param name="sensor_timeout" value="0.1"/>
           <param name="two_d_mode" value="true"/>

           <param name="map_frame" value="map"/>
           <param name="odom_frame" value="odom"/>
           <param name="base_link_frame" value="base_link"/>
           <param name="world_frame" value="odom"/>

           <param name="transform_time_offset" value="0.0"/>

           <param name="odom0" value="/odometry/gps"/>
           <param name="imu0" value="/compass/data"/>
           <param name="imu1" value="/imu/data"/>

             <rosparam param="odom0_config">[ true,  true, false,
                                             false, false, false,
                                             false, false, false,
                                             false, false, false,
                                             false, false, false]</rosparam>

             <rosparam param="imu0_config">[false, false, false,
                                            false, false,  true,
                                            false, false, false,
                                            false, false, false,
                                            false, false, false]</rosparam>

             <rosparam param="imu1_config">[false, false, false,
                                             true,  true, false,
                                            false, false, false,
                                             true,  true,  true,
                                            false, false, false]</rosparam>

           <param name="odom0_differential" value="false"/>
           <param name="imu0_differential" value="false"/>
           <param name="imu1_differential" value="false"/>

           <param name="odom0_relative" value="false"/>
           <param name="imu0_relative" value="false"/>
           <param name="imu1_relative" value="false"/>

           <param name="imu0_remove_gravitational_acceleration" value="true"/>
           <param name="imu1_remove_gravitational_acceleration" value="true"/>

           <param name="print_diagnostics" value="true"/>

           <param name="odom0_queue_size" value="10"/>
           <param name="imu0_queue_size" value="10"/>
           <param name="imu1_queue_size" value="10"/>

           <param name="debug"           value="false"/>
           <param name="debug_out_file"  value="debug_ekf_localization.txt"/>

             <rosparam param="process_noise_covariance">[0.05, 0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                         0,    0.05, 0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                         0,    0,    0.06, 0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                         0,    0,    0,    0.03, 0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                         0,    0,    0,    0,    0.03, 0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                         0,    0,    0,    0,    0,    0.06, 0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                         0,    0,    0,    0,    0,    0,    0.025, 0,     0,    0,    0,    0,    0,    0,    0,
                                                         0,    0,    0,    0,    0,    0,    0,     0.025, 0,    0,    0,    0,    0,    0,    0,
                                                         0,    0,    0,    0,    0,    0,    0,     0,     0.04, 0,    0,    0,    0,    0,    0,
                                                         0,    0,    0 ...