There is no output of robot_localization /odometry/filtered?
Launch File
<?xml version="1.0"?>
<launch>
<node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" respawn="true" output="screen">
<param name="magnetic_declination_radians" value="0.0001"/>
<param name="zero_altitude" value="false"/>
<param name="publish_filtered_gps" value="true"/>
<param name="broadcast_utm_transform" value="true"/>
<param name="wait_for_datum" value="false"/>
<remap from="/gps/fix" to="/android/tr/fix"/>
<remap from="/imu/data" to="/android/tr/imu"/>
<remap from="/odometry/filtered" to="/odometry/filtered"/>
</node>
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_odom" clear_params="true">
<param name="odom0" value="odometry/gps"/>
<param name="imu0" value="/android/tr/imu"/>
<param name="frequency" value="30"/>
<param name="sensor_timeout" value="2"/>
<param name="two_d_mode" value="true"/>
<param name="map_frame" value="map"/>
<param name="odom_frame" value="odom"/>
<param name="base_link_frame" value="base_link"/>
<param name="world_frame" value="odom"/>
<rosparam param="imu0_config">[false, false, false,
false, false, true,
false, false, false,
false, false, true,
true, false, false]</rosparam>
<param name="imu0_differential" value="false"/>
<param name="imu0_remove_gravitational_acceleration" value="true"/>
<rosparam param="odom0_config">[true, true, false,
false, false, false,
false, false, false,
false, false, false,
false, false, false]</rosparam>
<param name="odom0_differential" value="false"/>
<param name="print_diagnostics" value="true"/>
<param name="debug" value="false"/>
<param name="debug_out_file" value="/home/tr/Documents/Data/debug_ekf_localization.txt"/>
</node>
</launch>
my commands:
rosrun tf static_transform_publisher 0 0 0 0 0 0 base_link odom 100
rosrun tf static_transform_publisher 0 0 0 0 0 0 base_link gps 100
rosrun tf static_transform_publisher 0 0 0 0 0 0 base_link imu 100
roslaunch robot_localization ekf_navsat_1_imu_1_gps.launch
GPS and IMU output work fine:
header:
seq: 93892
stamp:
secs: 1518024992
nsecs: 79000000
frame_id: "gps"
status:
status: 0
service: 1
latitude: X.XXX
longitude: XXX.XXX
altitude: 158.1
position_covariance: [47.61000061035156, 0.0, 0.0, 0.0, 47.61000061035156, 0.0, 0.0, 0.0, 47.61000061035156]
position_covariance_type: 1
header:
seq: 1157
stamp:
secs: 1518034926
nsecs: 51000000
frame_id: "imu"
orientation:
x: 0.446064591408
y: 0.138493359089
z: 0.237937837839
w: 0.851605296135
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
x: -0.27292111516
y: -0.621535181999
z: -0.107675902545
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration:
x: -0.204999998212
y: 3.48000001907
z: 7.16699981689
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
ROS Kinetic version
ONLY KEEP OUTPUTTING:...(XXX for privacy)
[ INFO] [1518025369.196990870]: Datum UTM coordinate is (XXXX, XXXX)
[ INFO] [1518025370.197003681]: Datum (latitude, longitude, altitude) is (XXX, XXXX, XXX)
[ INFO] [1518025370.197130824]: Datum UTM coordinate is (XXXX, XXXX)
[ INFO] [1518025371.197107959]: Datum (latitude, longitude, altitude) is (XXX, XXXX, XXX)
When I try to rostopic echo /odometry/filtered there is no data coming from the node....
What is your question?
no output from /odometry/filtered