robot_pose_ekf and AMCL
Hi! I have my own robot that works on odometry and lidar using AMCL. Everything works perfectly. After that, I decided to use robot_pose_ekf to improve data. I use the MPU6050 sensor and odometry from wheels data for this. /robot_pose_ekf/odom_combined give me a data. But I encountered such a problem that I do not know how to connect the robot_pose_ekf package to my the ready system with the AMCL. I searched the Internet, and did not find the information. In which files do I need to make changes to connect robot_pose_ekf?
In launch file I wrote.
<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
<param name="output_frame" value="odom_combined"/>
<param name="base_footprint_frame" value="base_link"/>
<param name="freq" value="30.0"/>
<param name="sensor_timeout" value="1.0"/>
<param name="odom_used" value="true"/>
<param name="imu_used" value="true"/>
<param name="vo_used" value="false"/>
<param name="publish_tf" value="true"/>
<remap from="odom" to="odom"/>
<remap from="imu_data" to="imu_data" />
</node>
But navigation does not work. The terminal gets out of error.
Timed out waiting for transform from base_link to map to become available before running costmap, tf error: . canTransform returned after 0.100751 timeout was 0.1
Here is fragment of my original tf tree of working system, without robot_pose_ekf. Without robot_pose_ekf
With robot_pose_ekf graph is the same exept frame called not "odom" but "odom_combined" and published by robot_pose_ekf.