initial_state in robot_localization does not change the odometry/filtered initial pose

asked 2019-09-04 14:26:04 -0500

Lucas Marins gravatar image

updated 2019-09-04 14:26:48 -0500

Hello,

I am working with the robot_localization, filtering two odometry data.

Both of them start at (0,0,0), but I would like to start at (x,y,0).

I am using the initial_state parameter, but the topic keeps publishing the starting pose in (0,0,0).

Which are the possible problems?

I am setting the parameter on my yaml file only:

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: $(env HOME)/.ros/log/ekf.log

publish_tf: true
smooth_lagged_data: false 

dynamic_process_noise_covariance: 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: robot/odom0
odom0_config: [true,  true,  false,
               false, false, false,
               true, true, false,
               false, false, false,
               false, false, false]
odom0_queue_size: 2
odom0_nodelay: false
odom0_differential: false
odom0_relative: true
odom0_pose_rejection_threshold: 5
odom0_twist_rejection_threshold: 1.0


odom1: robot/odom1
odom1_config: [true, true, false,
               true, true, true,
               true, true, false,
               true, true, true,
               false, false, false]
odom1_differential: false
odom1_relative: true
odom1_queue_size: 2
odom1_pose_rejection_threshold: 2
odom1_twist_rejection_threshold: 1.0
odom1_nodelay: false

use_control: true
stamped_control: false
control_timeout: 0.2

control_config: [true, true, false, false, false, true]

acceleration_limits: [1.3, 1.3, 0.0, 0.0, 0.0, 3.4]
deceleration_limits: [1.3, 1.3, 0.0, 0.0, 0.0, 4.5]
acceleration_gains: [0.8, 0.8, 0.0, 0.0, 0.0, 0.9]
deceleration_gains: [1.0, 1.0, 0.0, 0.0, 0.0, 1.0]

initial_state: [20.0, 20.0, 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]
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