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Hey guys,
Is there any way to get the visual odometry from the viso2_ros package to the robot_pose_ekf. From what I have had a look , the robot_pose_ekf requires data on the /vo topic. Is the data coming out of visi2_ros can be published on the /vo and fed into the robot_pose_ekf??
yes, just hook up the viso2_ros/odometry to the robot_pose_ekf/vo since they are both nav_msgs/Odometry messages.
I did that and got the viso2_ros output on the /vo topic. Thanks to you.
When I launch the minimal.launch file and then run the mono_odometer I get the following error-:
Could not transform imu message from IMU to base_footprint. Imu will not be activated yet.
The rxconsole shows that the imu is deactivated and it tries to activate but can't .
If I kill the /vo topic everything works fine.
Sometimes (just once) I got this error Filter time older than vo message buffer.
I did that. The data is being published on the /imu/data and /imu/raw. As I move the gyro the data on these topics changes. So the imu is working fine but as soon as viso2_ros get swtiched on I get the errors. So I again echo the topic and see the data on the /imu topics.
I changed the base_link_frame_id (string, default: /base_link) to base_footprint and it solved the problem. Ad the /odom topic child_frame_id is base_footprint so I thought the mono_odometry id should also be the same. Let me know if there is something wrong in that?
Asked: 2012-05-18 08:44:39 -0500
Seen: 664 times
Last updated: May 22 '12
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