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Problem with robot_pose_ekf

Hello,

I am trying to get the tf between /odom and /base_footprint using robot_pose_ekf, but for some reason it is not working. I am using a slightly modified version of the launch file provided.

When I run view_frames however /odom and /base_link still aren't attached. I'd appreciate it if someone could tell me what I am doing wrong.

Thanks,


<launch>

<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
<remap from="odom" to="pr2_base_odometry/odom"/> </node>

</launch>

Problem with robot_pose_ekf

Hello,

I am trying to get the tf between /odom and /base_footprint using robot_pose_ekf, but for some reason it is not working. I am using a slightly modified version of the launch file provided.

When I run view_frames however /odom and /base_link still aren't attached. I'd appreciate it if someone could tell me what I am doing wrong.

Thanks,


<launch>'<launch>

<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
<remap from="odom" to="pr2_base_odometry/odom"/> </node>

</launch></launch>'

Problem with robot_pose_ekf

Hello,

I am trying to get the tf between /odom and /base_footprint using robot_pose_ekf, but for some reason it is not working. I am using a slightly modified version of the launch file provided.

When I run view_frames however /odom and /base_link still aren't attached. I'd appreciate it if someone could tell me what I am doing wrong.

Thanks,


'<launch>

<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
<remap from="odom" to="pr2_base_odometry/odom"/> </node>

</launch>'

Problem with robot_pose_ekf

Hello,

I am trying to get the tf between /odom and /base_footprint using robot_pose_ekf, but for some reason it is not working. I am using a slightly modified version of the launch file provided.

When I run view_frames however /odom and /base_link still aren't attached. I'd appreciate it if someone could tell me what I am doing wrong.

Thanks,

Problem with robot_pose_ekf

Hello,

I am trying to get the tf between /odom and /base_footprint using robot_pose_ekf, but for some reason it is not working. I am using a slightly modified version of the launch file provided.

When I run view_frames however /odom and /base_link still aren't attached. I'd appreciate it if someone could tell me what I am doing wrong.

Thanks,

click to hide/show revision 6
Added launch file code

Problem with robot_pose_ekf

Hello,

I am trying to get the tf between /odom and /base_footprint using robot_pose_ekf, but for some reason it is not working. I am using a slightly modified version of the launch file provided.

When I run view_frames however /odom and /base_link 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. Sorry for the odd formatting, it was the only way to get it to show up here.

  1. < launch>
  2. < node pkg=""robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf"
  3. < param name="output_frame" value="odom"/>
  4. < param name="freq" value="30.0"/>
  5. < param name="sensor_timeout" value="1.0"/>
  6. < param name="odom_used" value="true"/>
  7. < param name="imu_used" value="false"/>
  8. < param name="vo_used" value="false"/>
  9. < param name="debug" value="false"/>
  10. < param name="self_diagnose" value="false"/>
  11. < param name="pub_odometry" value="true"/>
  12. < remap from="odom" to="pr2_base_odometry/odom" />
  13. < /node>
  14. < /launch>

Problem with robot_pose_ekf

Hello,

I am trying to get the tf between /odom and /base_footprint using robot_pose_ekf, but for some reason it is not working. I am using a slightly modified version of the launch file provided.

When I run view_frames however /odom and /base_link 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. Sorry for the odd formatting, it was the only way to get it to show up here.

  1. < launch>
  2. < node pkg=""robot_pose_ekf" pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf"
  3. < param name="output_frame" value="odom"/>
  4. < param name="freq" value="30.0"/>
  5. < param name="sensor_timeout" value="1.0"/>
  6. < param name="odom_used" value="true"/>
  7. < param name="imu_used" value="false"/>
  8. < param name="vo_used" value="false"/>
  9. < param name="debug" value="false"/>
  10. < param name="self_diagnose" value="false"/>
  11. < param name="pub_odometry" value="true"/>
  12. < remap from="odom" to="pr2_base_odometry/odom" />
  13. < /node>
  14. < /launch>

Problem with robot_pose_ekf

Hello,

I am trying to get the tf between /odom and /base_footprint using robot_pose_ekf, but for some reason it is not working. I am using a slightly modified version of the launch file provided.

When I run view_frames however /odom and /base_link 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. Sorry for the odd formatting, it was the only way to get it to show up here.

  1. < launch>
  2. < node
    <launch>
      <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf"
  3. < param name="robot_pose_ekf" > <param name="output_frame" value="odom"/>
  4. < param value="odom"/> <param name="freq" value="30.0"/>
  5. < param value="30.0"/> <param name="sensor_timeout" value="1.0"/> value="1.0"/>
  6. < param <param name="odom_used" value="true"/>
  7. < param value="true"/> <param name="imu_used" value="false"/>
  8. < param value="false"/> <param name="vo_used" value="false"/>
  9. < param value="false"/> <param name="debug" value="false"/>
  10. < param value="false"/> <param name="self_diagnose" value="false"/>
  11. < param value="false"/> <param name="pub_odometry" value="true"/>
  12. < remap value="true"/> <remap from="odom" to="pr2_base_odometry/odom" />
  13. < /node>
  14. < /launch>
/> </node> </launch>

Problem with robot_pose_ekf

Hello,

I am trying to get the tf between /odom and /base_footprint using robot_pose_ekf, but for some reason it is not working. I am using a slightly modified version of the launch file provided.

When I run view_frames however /odom and /base_link 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__base_odometry/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.

<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="pr2_base_odometry/odom" to="encoder" />
  </node>
</launch>

Problem with robot_pose_ekf

Hello,

I am trying to get the tf between /odom and /base_footprint using robot_pose_ekf, but for some reason it is not working. I am using a slightly modified version of the launch file provided.

When I run view_frames however /odom and /base_link 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__base_odometry/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.now. I have also attached the image I get from view_frames.

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>

Problem with robot_pose_ekf

Hello,

I am trying to get the tf between /odom and /base_footprint using robot_pose_ekf, but for some reason it is not working. I am using a slightly modified version of the launch file provided.

When I run view_frames however /odom and /base_link 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__base_odometry/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.

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.