overshoot pose from robot_localization

edit

Hi everyone!

I'd like to seek your support in running robot_localization. here is my current configuration.

ODOM Source: iRobotcreate2 using autonomy_create driver publishing odom->base_link at 50Hz, frame_id = odom child_frame_id = base_link

IMU Source: LPMS USBAL2 using lpms_imu from larics publishing /imu_data topic at 50Hz, frame_id = base_link

  <node name="robot_localization" pkg="robot_localization" type="ekf_localization_node" clear_params="true" output="screen" >

robot_localization launch

  <param name="frequency" value="50"/>

  <param name="sensor_timeout" value="0.1"/>

  <param name="odom0" value="/odom"/>
  <param name="imu0" value="/imu_data"/>

  <param name="odom_frame" value="odom"/>
  <param name="base_link_frame" value="base_link"/>
  <param name="world_frame" value="odom"/>
  <param name="two_d_mod" value="true"/>
  <param name="publish_tf" value="false"/>

  <rosparam param="odom0_config">[false, false, false,
                                  false, false, false,
                                  true, true, false,
                                  false, false, false,
                                  false, false, false]</rosparam>

  <rosparam param="imu0_config">[false, false, false,
                                 false, false, true,
                                 false, false, false,
                                 false, false, false,
                                 false, false, false]</rosparam>

  <param name="odom0_queue_size" value="10"/>
  <param name="imu0_queue_size" value="10"/>

  <param name="imu0_remove_gravitational_acceleration" value="false"/>
  <param name="odom0_differential" value="false"/>
  <param name="imu0_differential" value="false"/>

  <rosparam param="process_noise_covariance">[0.03, 0,    0,   0,    0,    0,    0,     0,     0,    0,     0,     0,     0,    0,    0,
                                              0,    0.03, 0,   0,    0,    0,    0,     0,     0,    0,     0,     0,     0,    0,    0,
                                              0,    0,    0.4, 0,    0,    0,    0,     0,     0,    0,     0,     0,     0,    0,    0,
                                              0,    0,    0,   0.03, 0,    0,    0,     0,     0,    0,     0,     0,     0,    0,    0,
                                              0,    0,    0,   0,    0.03, 0,    0,     0,     0,    0,     0,     0,     0,    0,    0,
                                              0,    0,    0,   0,    0,    0.06, 0,     0,     0,    0,     0,     0,     0,    0,    0,
                                              0,    0,    0,   0,    0,    0,    0.025, 0,     0,    0,     0,     0,     0,    0,    0,
                                              0,    0,    0,   0,    0,    0,    0,     0.025, 0,    0,     0,     0,     0,    0,    0,
                                              0,    0,    0,   0,    0,    0,    0,     0,     0.05, 0,     0,     0,     0,    0,    0,
                                              0,    0,    0,   0,    0,    0,    0,     0,     0,    0.002, 0,     0,     0,    0,    0,
                                              0,    0,    0,   0,    0,    0,    0,     0,     0,    0,     0.002, 0,     0,    0,    0,
                                              0,    0,    0,   0,    0,    0,    0,     0,     0,    0,     0,     0.004, 0,    0,    0,
                                              0,    0,    0,   0,    0,    0,    0,     0,     0,    0,     0,     0,     0.01, 0,    0,
                                              0,    0,    0,   0,    0,    0,    0,     0,     0,    0,     0,     0,     0,    0.01, 0,
                                              0,    0,    0,   0,    0,    0,    0,     0,     0,    0,     0,     0,     0,    0,    0.01]</rosparam>

  <rosparam param="initial_estimate_covariance">[1e-9, 0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                                 0,    1e-9, 0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                                 0,    0,    1e-9, 0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                                 0,    0,    0,    1e-9, 0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                                 0,    0,    0,    0,    1e-9, 0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                                 0,    0,    0,    0,    0,    1e-9, 0,    0,    0 ...