output update of ROBOT_POSE_EKF is 5 sec. Can I get them faster?

robot_pose_ekf

asked 2012-09-23 17:09:04 -0500

sai
1925 ●58 ●75 ●86

updated 2012-09-24 00:04:24 -0500

Question 1.. Can I just use wheel odometry data and imu data and get effective kalman updated data using robot_pose_ekf package?Is there any package which is more handy which I overlooked?

Question 2.. The output of /robot_pose_ekf/odom_combined is same as the /pose published by wheel odometry. Do I have to make any changes?

Question3..Message update rate is around 5 sec and can I decrease it ?

I tried changing the freq parameter in robot_pose_ekf.launch from 30 hz to 120 hz but the update comes around once in 5 sec.

Sometimes the output does not start immediately.

nutan@nutan-laptop:~$ rostopic hz /robot_pose_ekf/odom_combined

subscribed to [/robot_pose_ekf/odom_combined]

average rate: 0.018

min: 55.560s max: 55.560s std dev: 0.00000s window: 2

no new messages

average rate: 0.033

min: 5.054s max: 55.560s std dev: 25.25297s window: 3

no new messages

average rate: 0.046

min: 5.053s max: 55.560s std dev: 23.80890s window: 4

no new messages

average rate: 0.057

min: 5.053s max: 55.560s std dev: 21.86982s window: 5

no new messages

average rate: 0.066

min: 5.053s max: 55.560s std dev: 20.20241s window: 6

no new messages

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Comments

Glad you solved the problem. Would you mind marking the answer as accepted?

jarvisschultz ( 2012-10-01 18:19:49 -0500 )edit

did that

sai ( 2012-10-03 00:36:32 -0500 )edit

This helped me figure out why EKF's update rate was incorrect. Just like in your case, the EKF node was complaining about the IMU messages not having base_footprint IDs. After specifying "base_footprint" for the "frame_id" param for the IMU node, the EKF node's rate increased to 5Hz - our GPS rate