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robot_pose_ekf problems, timestamp, frames transformation

Hello,

I am using robotposeekf to fuse data from IMU, encoders and gps. Filter is performing really bad. Results are far from being precise.

During the running of the node, i get several errors:

[ERROR] [1373966320.259468440]: Timestamps of odometry and imu are 1.463487 seconds apart.
[ERROR] [1373966703.475481395]: Could not transform imu message from base_link to base_footprint
[ERROR] [1373966703.750433325]: Timestamps of odometry and imu are 4.054829 seconds apart.
[ INFO] [1373966703.750547445]: Odom sensor not active any more
[ INFO] [1373966703.750629928]: GPS sensor not active any more
[ERROR] [1373966703.750895464]: TF_NAN_INPUT: Ignoring transform for child_frame_id "/base_footprint" from authority "default_authority" because of a nan value in the transform (409490.661049 5476131.598444 nan) (0.024942 -0.090772 0.019537 0.995368)
[ERROR] [1373966703.751012029]: Cannot get transform at time 0.000000
[ERROR] [1373966703.751104568]: Cannot get transform at time 0.000000
[ WARN] [1373966703.751197178]: TF to MSG: Quaternion Not Properly Normalized
[ WARN] [1373966703.751528436]: TF_OLD_DATA ignoring data from the past for frame /base_footprint at time 0 according to authority /robot_pose_ekf_cp
Possible reasons are listed at 

Also, when I am using GPS sensor, Filter is performing really badly with great delays.

If anyone has idea how to fix timestamps, for the beginning, or if anyone got robotposeekf running properly (I see there is a lot of issue with this one), please post here.

Asked by el_lobo on 2013-07-15 23:27:47 UTC

Comments

Just to clarify how fast is the GPS information coming in?

Asked by pmukherj on 2013-08-06 09:29:05 UTC

Answers

I'm getting the same issues when using robot_pose_ekf alongside with hector_gazebo_imu_plugin.. Any ideas anyone?

Thanks..

Asked by costashatz on 2014-05-29 02:15:37 UTC

Comments

This question could use more details. Can you perhaps attach your tf tree visualization? Are all your sensors attached to the same computer? Are there any nan values going into the filter from any of the sensor messages?

Asked by Tom Moore on 2014-06-03 09:21:17 UTC