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RobotLocalization: navsatnode give wrong results with "nan covariance"

asked 2016-01-08 11:22:40 -0600

Niko gravatar image

updated 2016-01-09 04:11:41 -0600


<node pkg="nostop_robot_localization" type="navsat_transform_node" name="test_navsat_node" respawn="true">

  <param name="magnetic_declination_radians" value="2.38"/>
  <param name="yaw_offset" value="0"/>
  <param name="delay" value="0"/>
  <param name="map_frame" value="SRworld"/>
  <param name="odom_frame" value="odom"/>
   <param name="base_link_frame" value="base_link"/>
   <param name="world_frame" value="SRworld"/>
   <!--  Placeholder for input topic remapping-->
   <!--remap from="don't touch" to="my_topic" /-->
  <remap from="/imu/data" to="/test_imu" />
  <remap from="/gps/fix" to="/test_gps" />
  <remap from="/odometry/filtered" to="/output_of_ekf1" />

   <!-- Placeholders for output remapping. -->
  <remap from="/odometry/gps" to="/odometry_from_gps"/>
  <remap from="/gps/filtered" to="/gps_filtered"/>



This code returns a nan covariance and the transform doesn't work. Imu data, gps data and odometry data are ok. Frames are correctly choose, then where is the problem?

Bag file : Message screenshot :

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Also, is this from source, or is this the installed binary?

Tom Moore gravatar image Tom Moore  ( 2016-01-15 07:25:56 -0600 )edit

Also, I lack permission to view the bag file. It would be really helpful if you could also paste sample messages from all of your input sources in the question.

Tom Moore gravatar image Tom Moore  ( 2016-01-15 07:27:09 -0600 )edit

1 Answer

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answered 2016-01-15 09:25:49 -0600

Niko gravatar image

updated 2016-03-08 01:30:26 -0600

Thanks for the answer but I have resolved. The problem was in the imu frame_id = ' ' instead frame_id = base_link. Beginner mistake!

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Glad you found a solution!

Tom Moore gravatar image Tom Moore  ( 2016-03-08 06:45:11 -0600 )edit

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Asked: 2016-01-08 11:22:40 -0600

Seen: 321 times

Last updated: Mar 08 '16