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robot_pose_ekf problems, timestamp, frames transformation [closed]

asked 2013-07-15 23:27:47 -0600

el_lobo gravatar image

updated 2013-07-15 23:44:08 -0600


I am using robot_pose_ekf 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 robot_pose_ekf running properly (I see there is a lot of issue with this one), please post here.

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-06-22 00:50:09.486063


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

pmukherj gravatar image pmukherj  ( 2013-08-06 09:29:05 -0600 )edit

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answered 2014-05-29 02:15:37 -0600

costashatz gravatar image

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


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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?

Tom Moore gravatar image Tom Moore  ( 2014-06-03 09:21:17 -0600 )edit

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Asked: 2013-07-15 23:27:47 -0600

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Last updated: May 29 '14