Yet another problem with robot_localization and amcl

edit

Hi there,

I've read several threads about robot_localization with amcl and odometry data, but I have not being able to make it work.

What I did:

• amcl config file:

  tf_broadcast: false
  

• ekf config file

  publish_tf: true
  map_frame: "/map"
  odom_frame: "/base_odom_link"
  base_link_frame: "/base_footprint_link"
  world_frame: "/map"
  odom0: "/dev/odom"
  pose0: "/amcl_pose"
  

The odometry/filtered topic is almost the same as the /dev/odom, which means it is filtering the odom_frame. This looked to me as if the ekf could not read the config file and went to its default settings. But I checked the rqt_graph and it listens to the right odom and pose topic.

If a set the tf_broadcast of the amcl to true. The scan matches in RVIZ jump between the amcl and ekf tf, which is somehow the same as odom.

What am I missing?

Edit 1: in response to comments from @Nicholash Bedi

odom0_config: [true,  true,  false,
               false, false, true,
               true, true, false,
               false, false, true,
               false, false, false]
odom0_differential: true
odom0_relative: false

pose0_config: [true,  true,  false,
               false, false, true,
               false, false, false,
               false, false, false,
               false, false, false]
pose0_differential: false
pose0_relative: false

Edit 2: uploaded pics of my config files.

Hopefully you can see the error.

ekf_config.jpg

amcl_config.jpg

Edit 3 In response to @Tom Moore -> output of rostopic echo /amcl_pose and /dev/odom. I am sorry for the very very late response

odom

header: 
  seq: 161063
  stamp: 
    secs: 1495189822
    nsecs: 753257722
  frame_id: base_odom_link
child_frame_id: base_footprint_link
pose: 
  pose: 
    position: 
      x: -0.0955580770969
      y: -0.127791434526
      z: 0.0
    orientation: 
      x: 0.0
      y: -0.0
      z: -0.00566518455002
      w: -0.999983952713
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist: 
  twist: 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

amcl

header: 
  seq: 185
  stamp: 
    secs: 1495187483
    nsecs: 905225829
  frame_id: /map
pose: 
  pose: 
    position: 
      x: 2.232329958
      y: 4.91519891085
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.692934073576
      w: 0.721000949845
  covariance: [0.0028978789516864722, -0.0026280780170626628, 0.0, 0.0, 0.0, 0.0, -0.0026280780170626628, 0.018904477044003443, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0 ...