Robot_localization is not updating movement from relative frame to world frame on RViz
Hello, I am trying to set up an Extended Kalman Filter (EKF). I have the following types of sensors mounted on board of the ROV system:
UPDATES WITH SENSORS OUTPUT SAMPLES:
1) IMU - Primarily used for Orientation
Sensor Output Sample:
From: rostopic list echo/
header:
seq: 1900
stamp:
secs: 1517940907
nsecs: 527472019
frame_id: "base_link"
orientation:
x: -0.447962131618
y: 0.530470375983
z: -0.480721599498
w: -0.535572453192
orientation_covariance: [0.010000000000000002, 0.0, 0.0, 0.0, 0.010000000000000002, 0.0, 0.0, 0.0, 0.010000000000000002]
angular_velocity:
x: 0.00829399318143
y: -0.00832041039286
z: -0.0137973047577
angular_velocity_covariance: [0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1]
linear_acceleration:
x: 9.94429087323
y: -0.333990296188
z: 0.402224859015
linear_acceleration_covariance: [0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1]
---
2) USBL- Sonar sensor that provides a global position (X,Y)
Sensor Output Sample:
From: rostopic list echo /
header:
seq: 19
stamp:
secs: 0
nsecs: 0
frame_id: "map"
child_frame_id: "base_link"
pose:
pose:
position:
x: 5.53904389031
y: 28.6836443911
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 0.0
covariance: [5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
3) Depth sensor (Z)
Sensor Output Sample:
From: rostopic list echo /
header:
seq: 1963
stamp:
secs: 1517941110
nsecs: 334011078
frame_id: "base_link"
fluid_pressure: 54.99332428
variance: 6.93760519813e-310
---
4) Camera odometry velocity (X,Y)
Sensor Output Sample:
From: rostopic list echo /
header:
seq: 0
stamp:
secs: 1517941154
nsecs: 288109779
frame_id: "camera"
child_frame_id: ''
pose:
pose:
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 0.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ...
Please provide a sample message from all sensor inputs.
Hello Tom and thanks for taking the time to read the question. I provided a print-screen of all the sensor involved both from
rostopic echo /and fromrqt_topicI hope that could be helpuf to figure out what the problem might be@RayROS: I'm sorry to have to do this, but I've closed your question as with your latest edit you're violating the support guidelines. Specifically: don't post screenshots of terminals / code / messages.
It's all text, so copy-paste whatever is needed into your question and use the Preformatted Text button (the one with
101010on it) to format it properly. Use theeditbutton/link to edit your question.After you've fixed this, we can re-open.
@gvdhoorn, thanks for point that out. I just updated the sensor sample according to the guidelines. It should be correct now and sorry for adding the print-screen I thought it would have been easier to see it form there.