robot_localization: IMU not being used in sensor fusion

edit

Hello!

I've been trying to use the robot_localization package in order to position a person in relation to a robot by fusing UWB (ultra wideband - range measurements) and IMU data. This application is a little bit different than standard RL software because I'm trying to position a human in relation to the robot, instead of the robot in relation to the world.

The UWB data is of type PoseWithCovarianceStamped, and IMU is sensor_msgs/Imu. Currently my config file for the RL package is

odom_frame: base_link
base_link_frame: person
world_frame: base_link

two_d_mode: true

frequency: 50
sensor_timeout: 0.1

publish_tf: true

imu0: /imu
imu0_config: [false, false, false,
              true, true, true,
              false, false, false,
              true, true, true,
              true, true, true]
imu0_differential: false
imu0_queue_size: 10
imu0_relative: true
imu0_remove_gravitational_acceleration: true

pose0: /uwb
pose0_config: [true, true, true,
              false, false, false,
              false, false, false,
              false, false, false,
              false, false, false]
pose0_differential: false
pose0_queue_size: 10
pose0_relative: false

Note that odom_frame and world_frame are the base_link of the robot.

The issue is that the sensor fusion seems to be only using the UWB positioning. When I try to run the EKF node with only the IMU data, the odometry/filtered topic is never published. Any idea of what might be happening?

Thanks a lot! Please let me know if I should upload anything else.

Edit

Imu sample

> rostopic echo /imu
header:
  seq: 235
  stamp:
    secs: 1629816216
    nsecs: 723000000
  frame_id: "base_link"
orientation:
  x: -0.851288974285
  y: 0.500671029091
  z: -0.140116006136
  w: 0.0707325041294
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
  x: -0.189139157534
  y: 0.289015620947
  z: 0.574671506882
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration:
  x: 2.56418991089
  y: -2.65038132668
  z: -9.51725101471
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---

UWB sample

> rostopic echo /uwb
header:
  seq: 42
  stamp:
    secs: 1628540566
    nsecs: 118256092
  frame_id: "base_link"
pose:
  pose:
    position:
      x: 2.44
      y: 0.41
      z: 0.0
    orientation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
  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]
---

Thanks! Lucas