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Hello, I am experimenting with robot_localization package, and I understand /cmd_vel has to be TwisthWithCovarianceStamped.
How can I read /cmd_vel and republish it as TwistWithCovarianceStamped?
This use control (http://docs.ros.org/melodic/api/robot...) feature takes a Twist.
You should use that, not using cmd_vel as a state estimation input. No changes required :-)
the documentation states it is a twist, but
/ekf_se is almost certainly wants to listen TwistWithCovarianceStamped
What are you trying to publish to exactly? Whats your config file? The cmd vel should be in the control input NOT a twist source.
I assure you that it takes a normal twist. https://github.com/cra-ros-pkg/robot_...
If the config file has these statements below, it will try to resubscribe to /cmd_vel as twist with pose:
when use control is true, and stamped control is false, ekf-se subscribes to /cmd_vel no problem and uses it.
since I deleted the twist0 .. statements from config file, problem has gone away.
best
Yes, you shouldn't have twist0 for cmd_vel, the use control will take care of all of this for you.
If your problem is resolved, can you hit the checkbox by my answer so its removed from the unanswered queue?
Asked: 2019-12-04 07:25:13 -0500
Seen: 157 times
Last updated: Dec 04 '19
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