robot_localization estimate 'shoots' off on startup.
Hi,
I am fusing imu and encoder data to localize using an ekf. When I first run the state estimation node (on a bag) the estimate 'shoots' off and ends up in the x=1E1000; y = 5E100. After this initial jump, the estimate resembles my motion rather well but obviously, being x=2000; y=500 localized from the start isn't ideal. I'm using a very similar launch file to the one by Nick Charron here.
It's weird that after the initial jump, there is no instability?
Asked by PG_GrantDare on 2019-10-23 01:29:10 UTC
Comments
"very similar" is unhelpful. Please fully describe all sensors, locations, and configurations. Include sample messages + the RL config file.
Asked by stevemacenski on 2019-10-23 11:59:15 UTC
Yeah, full config, and sample input messages would be great. This sounds a lot like a rogue sensor message that is going through at startup.
Asked by Tom Moore on 2020-01-06 05:03:10 UTC