robot_localization: no odometry output from navsat_transform_node
Hello,
I have a log file of IMU and GPS readings that I have read into a bagfile and which I am trying to use robot_localization on. However, the output from the ekf_localization_node seems to diverge quickly and does not seem accurate. Upon further inspection, I noticed that the navsat_transform_node I was using was subscribing to the requisite topics, but was not publishing anything on odometry/gps. I think this may be at least part of the problem and I'm wondering if anyone might be able to offer advice on just what I'm doing wrong in my input to navsat_transform_node.
I am using imu_filter_madgwick to fuse the accelerometer and gyroscope data. I am sending this output on /imu/data to both ekf_localization_node and navsat_transform_node. In accordance with some other threads I was reading on this forum, I have also had the navsat_transform_node and ekf_localization_node subscribe to the odometry messages output by each other.
I have attached the launch file I am using, along with the bagfile I have been using.
IMU and GPS data from log file that have been converted to IMU and NavSatFix messages respectively https://drive.google.com/file/d/0B9lW...
Launch file
https://drive.google.com/file/d/0B9lW...
While running the bagfile and the nodes, I also recorded the imu/data topic output by imu_filter_madgwick, which I have enclosed below.
https://drive.google.com/file/d/0B9lW...
Thanks for taking the time to read this!
