robot_localization: unable to use odometry/filtered as input
Hi,
I'm using ROS Kinetic and a Clearpath Husky robot. I have an already running ekf_localization_node on my robot that gives me the base_link -> odom and outputs an odometry/filtered topic. Now, on the top of it, I want to use robot_localization to fuse global absolute data with markers.
I want to use the odometry data for my second ekf_global, hence I want the odometry/filtered topic to be subscribed by this node. Here is my launch file:
<?xml version="1.0"?>
<launch>
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_se" clear_params="true">
<rosparam command="load" file="$(find robot_localization)/params/my_ekf.yaml" />
<remap from="odometry/filtered" to="finalpose"/>
</launch>
The param file my_ekf.yaml is below:
frequency: 30
sensor_timeout: 1
two_d_mode: true
debug: false
publish_tf: true
publish_acceleration: false
map_frame: map # Defaults to "map" if unspecified
odom_frame: odom # Defaults to "odom" if unspecified
base_link_frame: base_link # Defaults to "base_link" if unspecified
world_frame: map # Defaults to the value of odom_frame if unspecified
dynamic_process_noise_covariance: true
odom0: od
odom0_config: [true, true, false,
false, false, true,
false, false, false,
false, false, false,
false, false, false]
odom0_differential: false
odom0_relative: false
odom0_queue_size: 40
odom0_nodelay: false
process_noise_covariance: [0.0001, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0.0001, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0.0001, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.0001, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0.0001, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0.0001, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0.0001, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0.0001, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.0001, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0001, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0001, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0001, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0001, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0001, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0001]
initial_estimate_covariance: [1e-2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1e-2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1e-2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1e-2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 1e-2, 0, 0, 0, 0, 0, 0 ...
@simff: please review the support guidelines. Do not post screenshots/images of text files or consoles. Copy-paste it into your question.
Yes sorry, using Windows system I had some issues with that, I could not use Linux not being at my work place. I will correct it tomorrow.
Is it possible to print the output data of /odometry/filtered on console cause I am trying to plot it combined with a noisy data?