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robot_pose_ekf odom_combined topic is not pusblished everytime

asked 2017-07-19 22:26:30 -0600

fj138696 gravatar image

Hi All!

I am trying to run robot_pose_ekf package with my RT 9axis IMU Sensor and Create2 with (autonomy_create driver) that publish the /odom topic. I have a simple node that subscribed to /odom and /robot_pose_ekf/odom_combined topics and create a trajectory path to display both topic in the odom frame but usually get shorter path from robot_pose_ekf. Then I check each topic and got this messages

$rostopic hz robot_pose_ekf/odom_combined

min: 5.038s max: 45.422s std dev: 8.43810s window: 125 
no new messages 
no new messages 
no new messages
no new messages 
no new messages 
no new messages 
no new messages
no new messages 
no new messages 
average rate: 0.128 min: 5.038s max: 45.422s std dev: 8.40684s window: 126 
no new messages no new messages 
no new messages no new messages
average rate: 0.129 min: 5.038s max: 45.422s std dev: 8.37696s window: 127 
no new messages 
no new messages

$ rostopic hz /imu_data

subscribed to [/imu_data]
average rate: 10.000
    min: 0.100s max: 0.101s std dev: 0.00025s window: 10
average rate: 10.000
    min: 0.099s max: 0.101s std dev: 0.00038s window: 20
average rate: 10.000
    min: 0.099s max: 0.101s std dev: 0.00036s window: 30
average rate: 10.000
    min: 0.099s max: 0.101s std dev: 0.00042s window: 40
average rate: 10.000
    min: 0.099s max: 0.101s std dev: 0.00043s window: 50

rostopic hz /odom

subscribed to [/odom]
average rate: 10.005
    min: 0.099s max: 0.101s std dev: 0.00053s window: 10
average rate: 9.998
    min: 0.099s max: 0.102s std dev: 0.00063s window: 20
average rate: 10.002
    min: 0.095s max: 0.105s std dev: 0.00151s window: 30
average rate: 10.001
    min: 0.095s max: 0.105s std dev: 0.00132s window: 40
average rate: 10.001
    min: 0.095s max: 0.105s std dev: 0.00125s window: 50
average rate: 10.000
    min: 0.095s max: 0.105s std dev: 0.00119s window: 60
average rate: 10.001
    min: 0.095s max: 0.105s std dev: 0.00112s window: 70
average rate: 10.001
    min: 0.095s max: 0.105s std dev: 0.00107s window: 80
average rate: 10.000
    min: 0.095s max: 0.105s std dev: 0.00128s window: 90
average rate: 9.998
    min: 0.094s max: 0.106s std dev: 0.00154s window: 100

Basically, in my launch file, I have set the robot_pose_ekf freq parameter to 10hz.

<!-- 
    Loading IMU Driver
  -->
  <include file="$(find rt_usb_9axisimu_driver)/launch/rt_usb_9axisimu_driver.launch" />
  <!-- 
    Loading IMU FILTER (Madgwick)
  -->
  <node pkg="imu_filter_madgwick" type="imu_filter_node" name="imu_filter_madgwick">
    <param name="use_mag"            type="bool"   value="false"/>
    <param name="publish_tf"         type="bool"   value="false"/>
        <param name="world_frame"        type="string" value="enu"/>
        <remap from="/imu/data"          to="/imu_data"/>
  </node>
  <!-- 
    Loading Robot Pose EKF                  
-->
    <arg name="output_frame"        default="odom"/>
    <arg name="base_footprint_frame" default="base_footprint"/>
    <arg name="freq"                default="10.0"/>
    <arg name="sensor_timeout"      default="1 ...
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answered 2017-07-20 20:17:44 -0600

fj138696 gravatar image

I think I know the reason why I don't have robot_pose_ekf/odom_combined topic output regularly because my tf is wrong. I added output="screen" in the launch file and showed that my IMU was not active since I am missing transform to imu_link.

original TF

<node pkg="tf" type="static_transform_publisher" name="base_to_imu_broadcaster" args="0.0 0 0.17 0 0 0 1 /base_link /imu 100" />

new TF

<node pkg="tf" type="static_transform_publisher" name="base_to_imu_broadcaster" args="0.0 0 0.17 0 0 0 1 /base_link /imu_link 100" />

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Asked: 2017-07-19 22:26:30 -0600

Seen: 776 times

Last updated: Jul 20 '17