Robot_localization: odometry/gps no output info
Hi, I am working with robot localization in ubuntu 16.04. I am using bags files with IMU and two GPS. However the IMU data don't give me info about the orientation, so I use mine /get_orientation node to obtain the orientation with the two GPS, getting the robot orientation.
The ekf outputs are working, i am not sure if fine but at least is giving some output. However the problem is the navsat_transform_node wich its output is all zero. So I am not sure where is the problem in that node.
I add the files:
fix_back(gps):
header:
seq: 2733
stamp:
secs: 1455210306
nsecs: 652417898
frame_id: "gps"
status:
status: 1
service: 1
latitude: 42.1819562283
longitude: -8.73968366
altitude: 384.671
position_covariance: [1000000000000.0, 0.0, 0.0, 0.0, 1000000000000.0, 0.0, 0.0, 0.0, 16000000000000.0]
position_covariance_type: 0
/imu/data:
header:
seq: 145690
stamp:
secs: 1455210324
nsecs: 134030103
frame_id: "base_imu"
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 0.0
orientation_covariance: [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0]
angular_velocity:
x: -0.0156264220278
y: 0.0181547511189
z: 0.0154273617187
angular_velocity_covariance: [0.0004, 0.0, 0.0, 0.0, 0.0004, 0.0, 0.0, 0.0, 0.0004]
linear_acceleration:
x: 0.0415387526155
y: -0.0178170949221
z: 0.0885146409273
linear_acceleration_covariance: [0.0004, 0.0, 0.0, 0.0, 0.0004, 0.0, 0.0, 0.0, 0.0004]
/get/orientation(topic with orientation wich is subscribed navsat node):
header:
seq: 1644
stamp:
secs: 1455210302
nsecs: 894764900
frame_id: "base_imu"
orientation:
x: 0.0
y: 0.0
z: 0.778295047494
w: 0.627898733114
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
x: 0.0
y: 0.0
z: 0.0
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration:
x: 0.0
y: 0.0
z: 0.0
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
/odometry/gps: I think that maybe the problem is in de frame id
header:
seq: 2691
stamp:
secs: 1455210292
nsecs: 652157068
frame_id: "odom"
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: 1.0
covariance: [1000000000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 16000000000000.0, 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 ...
Where are you telling
navsat_transform_node
to listen to your neworientation
topic? I don't see a remap.