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2015-09-11 05:40:10 -0500 | asked a question | ekf_localization AR-Drone Hello, I'm trying to use the ekf_localization node with the AR-Drone and I'm facing some problems. Before using it with the real drone, I'm using a simulator ( https://github.com/dougvk/tum_simulator ), which publishes an /ardrone/imu topic. In order to use odometry data, I've created a node which publishes a Odometry message (nav_msgs) with the frame_id (odom), the child_frame_id (base_link) , the planar velocities vx and vy (obtained from optical flow onboard) and the altitude z. My launch file is: <launch> </launch> The filter estimates well the altitude, but the x and y position have huge errors. The drone isn't takeoff and the estimated planar position are growing a lot. Any help or hint would be appreciated. Thanks EDIT: I've recorded a bag file: https://github.com/CesarAsturias/catk... The drone only takeoff in this file. The topic /ardrone/Odometry is published by the following simple node: I've created this node because the simulator, unlike the ardrone_autonomy package, doesn't publish the odometry message. I don't know if this is what you want, but here are the messages that the filter takes and the result, in two points of time. Before the quadrotor takeoff: /ardrone/Odometry:
/ardrone/ imu_Raw
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