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.