here is my launch file:
<launch>
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_odom_node" output="screen" ><="" p="">
<param name="frequency" value="30"/>
<param name="sensor_timeout" value="0.1"/>
<param name="two_d_mode" value="true"/>
<remap from="odometry/filtered" to="odom/ekf/enc_imu"/>
<param name="map_frame" value="map"/>
<param name="odom_frame" value="odom"/>
<param name="base_link_frame" value="base_link"/>
<param name="world_frame" value="odom"/>
<param name="transform_time_offset" value="0.0"/>
<param name="odom0" value="/odom"/>
<param name="odom0_differential" value="false" />
<param name="odom0_relative" value="false" />
<param name="odom0_queue_size" value="10" />
<rosparam param="odom0_config">[false, false, false,
false, false, false,
true, true, false,
false, false, true,
false, false, false]</rosparam>
<param name="imu0" value="/imu_data"/>
<param name="imu0_differential" value="false" />
<param name="imu0_relative" value="true" />
<param name="imu0_queue_size" value="10" />
<param name="imu0_remove_gravitational_acceleration" value="true" />
<rosparam param="imu0_config">[false, false, false,
false, false, false,
false, false, false,
true , true, true,
true, true, true]</rosparam>
<param name="print_diagnostics" value="true" />
<param name="debug" value="false" />
<param name="debug_out_file" value="debug_odom_ekf.txt" />
<rosparam param="process_noise_covariance">[0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0.025,0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0.025,0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.005]</rosparam>
<rosparam param="initial_estimate_covariance">[1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0 ...
(more)
Can you provide an image of your
tf
tree?Also, please add your configuration and launch file for the nodes from
robot_localization
you are running.@skpro19 here is my tf tree: odom--->base_link--->imu_frame
Thanks
@mgruhler my launch file is provided in answers Thanks