Robot_localization unable to publish tf map odom
Hello everyone,
I am trying to set up robot_localization for my own robot. it’s a differential robot with jetson nano and ros melodic. It has Wheel Odometry, IMU and GPS When I fuse only Wheel Odometry and IMU, it’s work very well
And then I am running two instances of robot_localization ekf_local fuses only the imu (imu/data) and the wheel odometry (/odom) to provide the tf odom -- base_link ekf_global fuses the imu (imu/data), the wheel odometry (/odom) and the odometry from gps (/odometry/gps) to provide the tf map--odom
Unfortunately I can’t obtain the tf map --> odom
I have this error with roswtf
ERROR TF multiple authority contention:
* node [/ekf_local] publishing transform [base_link] with parent [odom] already published by node [/ekf_global]
* node [/ekf_global] publishing transform [base_link] with parent [odom] already published by node [/ekf_local]
It’s very clear but I have been searching for a long time for this problem but still have not found a solution. Now, I’m running out of ideas and that’s why I’m asking for help.
Thanks for advance for help
These are the main parameters of my configuration:
/odom
header:
seq: 2353
stamp:
secs: 1621269914
nsecs: 517945051
frame_id: "odom"
child_frame_id: "base_link"
pose:
pose:
position:
x: 1.42776163451
y: 1.05459486876
z: 0.0
orientation:
x: 0.0
y: -0.0
z: -0.969285642944
w: -0.245937679876
covariance: [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, 0.0, 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]
/imu/data
header:
seq: 23430
stamp:
secs: 1621270028
nsecs: 842851010
frame_id: "imu"
orientation:
x: 0.0321049389572
y: -0.0256961583669
z: 0.862560831451
w: 0.50427947845
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
x: 0.00555555555556
y: 0.00555555555556
z: -0.00111111111111
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration:
x: -0.03
y: 0.0
z: -0.1
/odometry/filtered_global
header:
seq: 9837
stamp:
secs: 1621270122
nsecs: 593107462
frame_id: "odom"
child_frame_id: "base_link"
pose:
pose:
position:
x: 3.1402834907
y: -0.174301283379
z: 0.363305654322
orientation:
x: -0.0337846203609
y: -0.0230412789275
z: -0.733087734948
w: 0.678903580608
/odometry/gps
header:
seq: 198
stamp:
secs: 1621270660
nsecs: 123980998
frame_id: "odom"
child_frame_id: ''
pose:
pose:
position:
x: -47.288572479
y: 34.9779323968
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
covariance: [4.494400000000001, -6.32346808388906e-17, 0.0, 0.0, 0.0, 0.0, -1.3555156131737614e-16, 4.494400000000001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 17.977600000000002, 0.0, 0.0, 0.0 ...
Can you please add a tf tree and a node graph? (e.g. rqt_tf_tree/rqt_graph)
Thanks to have a look at my problem There, the links for : rqt_graph https://drive.google.com/file/d/1zuM-... tf_tree https://drive.google.com/file/d/1cVhr...
Sorry was not able to check that yet, but you have all zero for your covariances. That is a usual source of error, but I doubt that this is the issue here.
@Bertrand: please do not use off-site hosting for information which is just about central to your problem.
I've attached the screenshots to your post here.