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2019-10-30 14:04:16 -0500	commented answer	Global planner with taking into account the robot footprint If I understand correctly- for simplicity and efficiency reasons, default global planner assumes the robot is circular a
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2016-09-14 15:11:07 -0500	asked a question	Localization with angle problem Hi, I am trying to use robot_localization to fuse an odometry and IMU to localize my robot. I have read most of the threads and setup based on that, however, currently I still can't get the filtered angle correct (filtered location is relatively good) and thus the localization is wrong. My odometry outputs linear and angular velocity (twist) and IMU outputs Yaw angle and angular velocity. As the first stage, I simply incorparated ONLY odometry and plan to fuse IMU once I can get reasonable result with odom. Is there anything I am missing or setting incorrectly? My launch file and messages are posted below: frequency: 50 sensor_timeout: 0.1 transform_time_offset: 0.0 two_d_mode: true print_diagnostics: true odom_frame: odom base_link_frame: base_link world_frame: odom alpha: 0.001 kappa: 0 beta: 2 twist0: odometry/raw twist0_config: [false, false, false, false, false, false, true, true, false, false, false, true, false, false, false] twist0_queue_size: 5 twist0_rejection_threshold: 1 process_noise_covariance: [0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015] initial_estimate_covariance: [1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0 ... (more)
2016-09-08 08:24:44 -0500	commented question	robot_localization: a very simple usecase not working? I also tried your launch file, and had the same problem. Do you have any suggestion to get the node outputting filtered absolute values? Thanks.
2016-09-08 08:24:43 -0500	commented question	robot_localization: a very simple usecase not working? Hi I also tested the node with a single absolute pose source first. However, if I set pose0_differential and pose0_relative to false, I couldn't get any output. I can get output while pose0_differential is true, and it starts from 0, which is not I wanted.