robot_localization TF problem
Hi there,
I'm using ROS Indigo with V-REP simulator and robot_localization
to fuse odom and imu data. I start the ekf_localization_node
, it does not display an error message, but does not publish anything.
Already, the debug file shows "Could not transform measurement into odom. Ignoring..." and "Could not transform measurement into base_link. Ignoring...".
V-REP publishes TF tree: map->odom->base_link->sparton. I checked tf and it's being made correctly. What's wrong?
The launch file is:
<launch>
<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="false"/>
<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="/air2/odom"/>
<param name="imu0" value="/air2/imu"/>
<rosparam param="odom0_config">[true, true, true,
true, true, true,
false, false, false,
true, true, true,
false, false, false]</rosparam>
<rosparam param="imu0_config">[false, false, false,
true, true, true,
false, false, false,
true, true, true,
true, true, true]</rosparam>
<param name="odom0_differential" value="true"/>
<param name="imu0_differential" value="true"/>
<param name="odom0_relative" value="false"/>
<param name="imu0_relative" value="false"/>
<param name="imu0_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="debug" value="true"/>
<param name="debug_out_file" value="/home/robo/debug_ekf_localization.txt"/>
</node>
</launch>
Odom topic:
header:
seq: 98
stamp:
secs: 1443031642
nsecs: 362367329
frame_id: /odom
child_frame_id: /base_link
pose:
pose:
position:
x: -0.00514762103558
y: 0.00168874696828
z: 0.0593957901001
orientation:
x: -0.707533717155
y: 0.0267585106194
z: 0.0170629229397
w: -0.70596665144
covariance: [0.0010000000474974513, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0010000000474974513, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0010000000474974513, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0010000000474974513, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0010000000474974513, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0010000000474974513]
twist:
twist:
linear:
x: -0.0889131724834
y: 0.0042970222421
z: -2.02671504021
angular:
x: -0.321618080139
y: 4.16820764542
z: -3.00630068779
covariance: [0.0010000000474974513, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0010000000474974513, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0010000000474974513, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0010000000474974513, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0010000000474974513, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0010000000474974513]
IMU topic:
header:
seq: 80
stamp:
secs: 1443102518
nsecs: 982325656
frame_id: /sparton
orientation:
x: 0.476446002722
y: 0.473839610815
z: 0.526966273785
w: -0.520367085934
orientation_covariance: [9.999999974752427e-07, 0.0, 0.0, 0.0, 9.999999974752427e-07, 0.0, 0.0, 0.0, 9.999999974752427e-07]
angular_velocity:
x: 0.000786931079347
y: -0.00079421402188
z: 0.00557178910822
angular_velocity_covariance: [9.999999974752427e-07, 0 ...