navsat_transform_node not publishing robot/odometry/gps
hi all. I am trying to use robot_localization_node to fuse GPS and IMU data. I only have simulated sensor data and no odometry. the localization node published my_robot/odometry/filtered fine but the navsat_transform_node does not publish anything at the /my_robot/odometry/gps. When I do a rostopic list, the topic is listed but no messages are published. I can not set use_sim_time parameter to false because my ros_control needs it. I am have cross-checked and indeed the /clock topic publishes clock information. What should I do. below is my launch file configuration.
what could I be missing or doing wrong? thanks in advance.
...
<!-- Launch EKF here -->
<!-- End EKF here -->
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_se" clear_params="true">
<param name="frequency" value="10"/>
<param name="sensor_timeout" value="2.0"/>
<param name="two_d_mode" value="true"/>
<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="print_diagnostics" value="true"/> -->
<param name="publish_acceleration" value="true"/>
<param name="publish_tf" value="true"/>
<param name="imu0" value="/my_robot/hector_imu"/>
<rosparam param="imu0_config">[false, false, false,
true, true, true,
false, false, false,
true, true, true,
true, true, true]</rosparam>
<param name="imu0_differential" value="true"/> <!-- was false -->
<param name="imu0_remove_gravitational_acceleration" value="true"/>
<param name="odom0" value="/my_robot/odometry/gps"/>
<!-- fuse X and Y position, yaw, X˙, and yaw˙. -->
<!-- <rosparam param="odom0_config">[true, true, true,
false, false, false,
false, false, false,
false, false, false,
false, false, false]</rosparam> -->
<rosparam param="odom0_config">[true, true, false,
false, false, false,
false, false, false,
false, false, false,
false, false, false]</rosparam>
<param name="odom0_differential" value="true"/> <!-- was false -->
</node>
<node pkg="robot_localization" type="navsat_transform_node"
name="navsat_transform_node1" respawn="true" output="screen">
<param name="magnetic_declination_radians" value="0"/>
<param name="broadcast_cartesian_transform" value="true"/>
<param name="wait_for_datum" value="false"/>
<!-- <rosparam param="datum">[37, 0, 0.0]</rosparam> -->
<remap from="/odometry/gps" to="/my_robot/odometry/gps"/>
<!-- Inputs -->
<remap from="imu/data" to="my_robot/hector_imu"/>
<remap from="gps/fix" to="my_robot/fix"/>
<remap from="/odometry/filtered" to="/my_robot/odometry/filtered" /> </node>
....
SAMPLE SENSOR MESSAGES:
GPS:
header:
seq: 87
stamp:
secs: 465
nsecs: 0
frame_id: "/world"
status:
status: 0
service: 0
latitude: 0.000331608598298
longitude: -1.08803283551e-11
altitude: -0.0124077017948
position_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
position_covariance_type: 2
---
header:
seq: 88
stamp:
secs: 465
nsecs: 250000000
frame_id: "/world"
status:
status: 0
service: 0
latitude: 0.000331608598252
longitude: -1.08834852741e-11
altitude: -0.0124077017946
position_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
position_covariance_type: 2
IMU:
header:
seq: 2216
stamp:
secs: 465
nsecs: 220000000
frame_id: "base_link"
orientation:
x: 5.4428451508e-08
y: 1.1871741604e-05
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