Robot_localization and Hector mapping [closed]

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Hi guys,

I am trying to run hector_mapping in concomitant with robot_localization. I think all my configurations are correct, but for more clarity here the conf:

<launch>
  <include file="$(find rovitis_launch)/launch/mapping/hector_mapping.launch"/>

  <node pkg="tf" type="static_transform_publisher" name="base_link_to_camera" args="1.65 0 0.65 0 0 0 base_link camera 10"/>
  <node pkg="tf" type="static_transform_publisher" name="base_link_to_gps" args="0.83 0 1.37 0 0 0 base_link GPS_link 10"/>
  <node pkg="tf" type="static_transform_publisher" name="base_link_to_imu" args="0 0 0.2 -1.57 0 -3.14 base_link imu_link 10"/>
  <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser_link" args="1.65 0 0.1 0 0 0 base_link laser_link 10"/>

  <rosparam command="load" file="$(find rovitis_launch)/config/gps_odom.yaml" />

  <node pkg="robot_localization" type="ekf_localization_node" name="ekf_se_odom" clear_params="true"/>

  <node pkg="robot_localization" type="ekf_localization_node" name="ekf_se_map" clear_params="true">
    <remap from="odometry/filtered" to="odometry/filtered_map"/>
  </node>

  <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform" clear_params="true">
    <rosparam command="load" file="$(find rovitis_launch)/config/navsat_transform.yaml" />
    <remap from="odometry/filtered" to="odometry/filtered_map"/>
  </node>

</launch>

and then

# For parameter descriptions, please refer to the template parameter files for each node.

ekf_se_odom:
  frequency: 30
  sensor_timeout: 0.1
  two_d_mode: true
  transform_time_offset: 0.0
  transform_timeout: 0.0
  print_diagnostics: true
  debug: true
  debug_out_file: /home/matteo/rover_ws/ekf_se_odom.txt

  map_frame: map
  odom_frame: odom
  base_link_frame: base_link
  world_frame: odom

  odom0: odom
  odom0_config: [true, true, false,
                 false, false, false,
                 false,  false, false,
                 false, false, true,
                 false, false, false]
  odom0_queue_size: 10
  odom0_nodelay: true
  odom0_differential: false
  odom0_relative: true
  odom0_pose_rejection_threshold: 5
  odom0_twist_rejection_threshold: 1

  twist0: gps/fix_velocity
  twist0_config: [false,  false,  false,
                 false, false, false,
                 true, true, true,
                 false, false, false,
                 false, false, false]
  twist0_queue_size: 10
  twist0_nodelay: true
  twist0_differential: false
  twist0_relative: true

  imu0: imu/data
  imu0_config: [false, false, false,
                true,  true,  true,
                false, false, false,
                true,  true,  true,
                true,  true,  true]
  imu0_nodelay: false
  imu0_differential: false
  imu0_relative: true
  imu0_queue_size: 10
  imu0_pose_rejection_threshold: 0.8                 # Note the difference in parameter names
  imu0_twist_rejection_threshold: 0.8                #
  imu0_linear_acceleration_rejection_threshold: 0.8  #
  imu0_remove_gravitational_acceleration: true

  use_control: false

  process_noise_covariance: [...]

  initial_estimate_covariance: [...]

ekf_se_map:
  frequency: 30
  sensor_timeout: 0.1
  two_d_mode: true
  transform_time_offset: 0.0
  transform_timeout: 0.0
  print_diagnostics: true
  debug: true
  debug_out_file: /home/matteo/rover_ws/ekf_se_map.txt

  map_frame: map
  odom_frame: odom
  base_link_frame: base_link
  world_frame: map

  odom0: odom
  odom0_config: [true, true, false,
                 false, false, false,
                 false,  false, false,
                 false, false, true,
                 false, false, false]
  odom0_queue_size: 10
  odom0_nodelay: true
  odom0_differential: false
  odom0_relative: true
  odom0_pose_rejection_threshold: 5
  odom0_twist_rejection_threshold: 1

  odom1: odometry/gps
  odom1_config: [true,  true,  true,
                 false, false, false,
                 false, false, false,
                 false, false, false,
                 false, false, false]
  odom1_queue_size: 10
  odom1_nodelay: true
  odom1_differential: false
  odom1_relative: false

  twist0: gps/fix_velocity
  twist0_config: [false,  false,  false,
                 false, false, false,
                 true, true, true,
                 false, false, false,
                 false, false, false]
  twist0_queue_size: 10
  twist0_nodelay: true
  twist0_differential: false
  twist0_relative: true

  imu0: imu/data
  imu0_config: [false, false, false,
                true,  true,  true,
                false, false, false,
                true,  true,  true,
                true,  true,  true]
  imu0_nodelay: true
  imu0_differential: false
  imu0_relative: false
  imu0_queue_size: 10
  imu0_remove_gravitational_acceleration: true

  use_control: false

  process_noise_covariance: [...]

  initial_estimate_covariance: [...]

Finally navsat conf

frequency: 30
delay: 3.0
magnetic_declination_radians: 0.0539  # For lat/long 45.2266641° N ,  11.9843053° E
yaw_offset: 0.0 # IMU reads ...