Configuring robot_localization for odom msgs only

edit

I am sending only odom msgs to the robot localization filter. The odom msg has only position set and the rl filter is configured to look only at position and ignore velocity. I would like the rl filter to be more responsive to velocity inferred from position. As seen below, if there is a dropout in the odom msgs, the filter guess of velocity seems not so responsive to recent odom msgs. I will add an imu later, but getting a better velocity estimate with odom only will add to my understanding of the rl filter.

What should I do to make the velocity estimate more responsive to recent odom msgs?

The green trace is the output of the filter for position x axis, the red is the input odom position for x axis:

The rl filter does appear to be modeling velocity, as some deliberate long odom msg dropouts show a rising position.

Here is my rl config file:

frequency: 30
sensor_timeout: 0.1
two_d_mode: true
transform_time_offset: 0.0
transform_timeout: 0.0
print_diagnostics: true
debug: false
debug_out_file: /path/to/debug/file.txt
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: odom           # Defaults to the value of odom_frame if unspecified
odom0: example/odom/delayed
odom0_config: [true,  true,  false,
               false, false, false,
               false, false, false,
               false, false, true,
               false, false, false]
odom0_queue_size: 2
odom0_nodelay: false
odom0_differential: false

odom0_relative: false
odom0_pose_rejection_threshold: 5
odom0_twist_rejection_threshold: 1
#odom1: example/another_odom
odom1_config: [false, false, true,
               false, false, false,
               false, false, false,
               false, false, true,
               false, false, false]
odom1_differential: false
odom1_relative: true
odom1_queue_size: 2
odom1_pose_rejection_threshold: 2

odom1_twist_rejection_threshold: 0.2
odom1_nodelay: false
pose0: example/pose
pose0_config: [true,  true,  false,
               false, false, false,
               false, false, false,
               false, false, false,
               false, false, false]
pose0_differential: true
pose0_relative: false
pose0_queue_size: 5

pose0_rejection_threshold: 2  # Note the difference in parameter name
pose0_nodelay: false
#twist0: example/twist
twist0_config: [false, false, false,
                false, false, false,
                true,  true,  true,
                false, false, false,
                false, false, false]
twist0_queue_size: 3
twist0_rejection_threshold: 2
twist0_nodelay: false

#imu0: /imu/data/delayed
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: 5
imu0_pose_rejection_threshold: 100 #0.8                 # Note the difference in parameter names
imu0_twist_rejection_threshold: 100 #0.8                #

imu0_linear_acceleration_rejection_threshold: 100 #0.8  #

imu0_remove_gravitational_acceleration: true
use_control: true
stamped_control: false
control_timeout: 0.2
control_config: [true, false, false, false, false, true]
acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4]
deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5]
acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9]
deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0]
#only diagonals listed below
process_noise_covariance: [0.05,0.05,0.06,0.03,0.03,0.06,0.025,0.025,0.04,0.01,0.01,0.02,0.01,0.01,0.015]
initial_estimate_covariance: [1e-9,1e-9,1e-9,1e-9,1e-9,1e-9,1e-9,1e-9 ...