/odometry/filtered not moving on rviz
I am trying to do GPS navigation based robot. I have GPS, and IMU only on my robot. I am using ekf node to fuse both of them, I used this for the ekf launch file.
When I launch rviz, /odometry/filtered arrow is not moving with the robot, it is just stuck to the origin as well as /imu/data. the only thing moving is /odometry/gps arrows but they are way off the origin (I think this is another problem too?) I think I am missing some concepts on how this works because I am unable to debug this issue, and I am not sure how to get started?
my sensors output:
GPS on /fix
header: seq: 22801 stamp: secs: 1649971972 nsecs: 561069011 frame_id: "gps" status: status: 0 service: 1 latitude: 25.250925 longitude: 51.5449998333 altitude: -51.1 position_covariance: [30.030400000000004, 0.0, 0.0, 0.0, 30.030400000000004, 0.0, 0.0, 0.0, 480.48640000000006] position_covariance_type: 1
IMU on /imu/data
header: seq: 136195 stamp: secs: 1649972246 nsecs: 366828918 frame_id: "imu_link" orientation: x: -0.0808443412417 y: -0.00409338436667 z: 0.0 w: 0.99671833368 orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 2.93129770992 y: 1.20610687023 z: 0.564885496183 angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] linear_acceleration: x: 0.0087890625 y: -0.173583984375 z: 1.06298828125 linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
other topics output:
/odometry/gps
header: seq: 2207 stamp: secs: 1649972327 nsecs: 570184946 frame_id: "odom" child_frame_id: '' pose: pose: position: x: 23661.6671914 y: 10089.9228117 z: -5.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 1.0 covariance: [25.8064, 2.377113407955207e-19, 0.0, 0.0, 0.0, 0.0, -4.1728971075396667e-19, 25.8064, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 412.9024, 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] twist: twist: linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0 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]
/odometry/filtered
header: seq: 85962 stamp: secs: 1649972387 nsecs: 886390209 frame_id: "odom" child_frame_id: "base_link" pose: pose: position: x: 23658.4297487 y: 10156.494885 z: 0 ...
