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robot_pose_ekf pubs on robot_pose_ekf/odom but not on robot_pose_ekf/odom_combined

asked 2013-08-26 10:27:31 -0500

dan gravatar image

updated 2013-08-26 10:28:41 -0500

I am supplying odometry and Imu data to robot_pose_ekf and it is publishing the transform to base_footprint and the topic robot_pose_ekf/odom correctly. It advertises the topic robot_pose_ekf/odom_combined but rostopic echo shows that nothing is being published on that topic. So I am concerned that it is just using the odometry data sent to it and ignoring the Imu data.

The documentation: http://www.ros.org/wiki/robot_pose_ekf

says it should just be publishing the transform and robot_pose_ekf/odom_combined, not mentioning the topic robot_pose_ekf/odom.

So, what's up? Is the topic robot_pose_ekf/odum what was previously the topic robot_pose_EKF/odom_combined? Or do I need to debug some more to determine why the combined topic is not getting data published?

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answered 2013-08-26 15:27:36 -0500

dan gravatar image

Answered. It is because I used the example launch file from the wiki page. In that launch file, the parameter "output_frame" is set to value = "odom" The odom_estimation_node.cpp file uses that parameter to determine the topic advertised, with the default being "odom_combined"

I found it confusing because I was thinking that "output frame" would refer to the tf frame not the published topic name.

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You're right, it is confusing. The parameter `output_frame` refers to *both* the tf frame and the name of the published topic.

Martin Günther gravatar image Martin Günther  ( 2013-09-10 23:28:10 -0500 )edit

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Asked: 2013-08-26 10:27:31 -0500

Seen: 893 times

Last updated: Aug 26 '13