Problem with robot_pose_ekf
Hello,
I am trying to get the tf between /odom and /basefootprint using robotpose_ekf, but for some reason it is not working. I am using a slightly modified version of the launch file provided.
When I run viewframes however /odom and /baselink still aren't attached. I'd appreciate it if someone could tell me what I am doing wrong.
Thanks,
Edit: Going to try to put in the code. Let's see if it works this time.
Edit 2: So I figured out that my remap from odom to pr_baseodometry/odom was wrong and changed it to remap from odom to encoder, since that is what the odometry data is called for the husky. Unfortunately, that did not fix my problem. I have changed the code below to show what it looks like now. I have also attached the image I get from view_frames.
<launch>
<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" >
<param name="output_frame" value="odom"/>
<param name="freq" value="30.0"/>
<param name="sensor_timeout" value="1.0"/>
<param name="odom_used" value="true"/>
<param name="imu_used" value="false"/>
<param name="vo_used" value="false"/>
<param name="debug" value="false"/>
<param name="self_diagnose" value="false"/>
<param name="pub_odometry" value="true"/>
<remap from="odom" to="encoder" />
</node>
</launch>
Edit 3: So I may have discovered what is going on. When I run rostopic hz /robot_pose_ekf/odom
I get no response, indicating that there is no outpout. When I run rostopic hz /encoder
I also get no response, indicating that the husky is not sending out the odometry data. I have started a new question regarding that issue, but I will leave this question open until I am certain that this is the problem.
Asked by Icehawk101 on 2013-03-28 07:03:19 UTC
Comments
How have you modified the launch files? Has robot_pose_ekf started up (it should output a message saying so if it did). The output_frame parameter in the launch file should be set to what you need, which in your case is 'odom'?
Asked by pmukherj on 2013-03-28 07:54:29 UTC
As you can see the output frame is set to odom. When I run the file it gives me a summary with parameters and nodes, would that be the message you are talking about?
Asked by Icehawk101 on 2013-03-28 10:03:06 UTC