EDIT I am restructurizing the question because i made some progress but still stuck at one problem.
Hey guys, I am trying to implement Xsens INS device with robot_localization package that i could make robot navigate by GPS coordinates. However, i cannot get any data from navsat_transform node in the robot_localization package. I did find few suggestions what to do but it seems other people are more advanced than me so i got stuck at this point.
<launch>
<!-- Parameters setting of the node: ekf_localization_node -->
<node pkg="tf" type="static_transform_publisher" name="imu_tf" args="0 0 0 0 0 0 1 base_link base_imu 20"/>
<node pkg="tf" type="static_transform_publisher" name="gps_tf" args="0 0 0 0 0 0 1 base_link imu 20"/>
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true">
<param name="output_frame" value="odom"/>
<param name="frequency" value="20"/>
<param name="odom_used" value="true"/>
<param name="imu_used" value="true"/>
<param name="vo_used" value="false"/>
<param name="sensor_timeout" value="0.1"/>
<param name="two_d_mode" value="false"/>
<param name="map_frame" value="map"/>
<param name="odom_frame" value="odom"/>
<param name="base_link_frame" value="base_link"/>
<param name="world_frame" value="odom"/>
<param name="odom0" value="odom"/>
<param name="imu0" value="/imu/data"/>
<rosparam param="odom0_config">[true, true, true,
false, false, false,
false , false, false,
false, false, false,
false, false, false]</rosparam>
<rosparam param="imu0_config">[false, false, false,
true , true , true,
false, false, false,
true , true , true ,
true , true , true ]</rosparam>
<param name="odom0_differential" value="false"/>
<param name="imu0_differential" value="false"/>
<param name="imu0_remove_gravitational_acceleration" value="true"/>
<param name="odom0_relative" value="false"/>
<param name="imu0_relative" value="false"/>
<param name="print_diagnostics" value="true"/>
<!-- ======== ADVANCED PARAMETERS ======== -->
<param name="odom0_queue_size" value="2"/>
<param name="imu0_queue_size" value="10"/>
<rosparam param="process_noise_covariance">[0.05, 0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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, 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, 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, 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, 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, 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,
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, 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, 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, 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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.02, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 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, 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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.015]</rosparam>
<rosparam param="initial_estimate_covariance">[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-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-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-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-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]</rosparam>
</node>
<!-- Parameters setting of the node: navsat_transform_node -->
<node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" respawn="true">
<param name="magnetic_declination_radians" value="0.0036651914"/>
<param name="yaw_offset" value="0.0"/>
<param name="zero_altitude" value="false"/>
<param name="broadcast_utm_transform" value="true"/>
<param name="publish_filtered_gps" value="true"/>
<param name="use_odometry_yaw" value="false"/>
<param name="wait_for_datum" value="false"/>
<remap from="/imu/data" to="/imu/data" />
<remap from="/gps/fix" to="/fix" />
<!--remap from="/odometry/filtered" to="/odometry/filtered" /-->
</node>
</launch>
The odometry source is from Hector slam from Hokuyo laser sensor. Seems that odometry/filtered topic publishes the data, not sure yet what is the actual value of it but before i had no data flow at all. However, I still have problem with /odometry/gps or /gps/filtered as none of them publish anything when subscribed. I did check if the navsat_transform_node subscribes to ekf_localization node and it does do that indeed. Also, the navsat_transform_node also subscribes to both /imu/data and /fix so i do provide GPS flow. Following is my data flow from different topics. Note that in launch file odometry/gps was not subsribed in odom0, but i changed in to odom in order to get some data. Fact is that when i echo the topic odometry/gps i get no data flow, same is with gps/filtered - in other words any topic published by navsat_transform_node does not provide data flow.
Also i attach the configuration of the Xsens INS sensor.
rosrun xsens_driver mtdevice.py --configure=pl400fe,pa400fe,oq400fe,aa400fe,wr400fe,gd4fe --output-settings=tqMAG
For this sensor i use ethzasl_xsens_driver package as it seems to be properly working with the sensor. What I am trying to achieve this moment is to get data from robot_localization package topics but nothing is being subscribed even though they subscribe to Xsens published topics /fix and /imu/data. Please let me know what I am doing wrong and what extra info i should attach.
This is the following data that i receive when echo'ing. From topic /fix
header:
seq: 10809
stamp:
secs: 1488376624
nsecs: 581118106
frame_id: /imu
status:
status: 0
service: 0
latitude: 57.0143623352
longitude: 9.98601722717
altitude: 62.4811706543
position_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
position_covariance_type: 0
---
From topic /imu/data
header:
seq: 1592301
stamp:
secs: 1488380578
nsecs: 149617910
frame_id: /imu
orientation:
x: -0.0012584940996
y: -0.0031715943478
z: -0.214321956038
w: -0.976757109165
orientation_covariance: [0.017453292519943295, 0.0, 0.0, 0.0, 0.017453292519943295, 0.0, 0.0, 0.0, 0.15707963267948966]
angular_velocity:
x: -0.000515580235515
y: 0.00211000442505
z: 0.000423193065217
angular_velocity_covariance: [0.0004363323129985824, 0.0, 0.0, 0.0, 0.0004363323129985824, 0.0, 0.0, 0.0, 0.0004363323129985824]
linear_acceleration:
x: -0.035540368408
y: -0.0115282256156
z: 9.81090068817
linear_acceleration_covariance: [0.0004, 0.0, 0.0, 0.0, 0.0004, 0.0, 0.0, 0.0, 0.0004]
---
From /odometry/filtered:
header:
seq: 160
stamp:
secs: 1488812771
nsecs: 471517563
frame_id: odom
child_frame_id: base_link
pose:
pose:
position:
x: -3.2737282894e-07
y: -2.40200328791e-06
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 3.24346089091e-11
w: 1.0
covariance: [0.6998459214051511, -0.09306646898637555, 0.0, 0.0, 0.0, 1.448969985883608e-05, -0.0930664689863756, 0.4099058675760928, 0.0, 0.0, 0.0, -1.1834283019316645e-06, 0.0, 0.0, 9.999993476136396e-10, -5.6646719919275456e-15, -4.613325278206316e-15, 0.0, 0.0, 0.0, -5.6646719919275716e-15, 1.9474625016874716, 8.515942117782655e-11, 0.0, 0.0, 0.0, -4.613325278206308e-15, 8.515942117782666e-11, 1.9474625028938, 0.0, 1.4489699858836067e-05, -1.183428301931665e-06, 0.0, 0.0, 0.0, 3.8949249401146293]
twist:
twist:
linear:
x: -2.09464334202e-07
y: -4.27962175671e-06
z: 0.0
angular:
x: 0.0
y: 0.0
z: 8.7039657586e-12
covariance: [0.30525458618611934, -0.02126161143694827, 0.0, 0.0, 0.0, -1.692420648337544e-07, -0.021261611436948238, 0.23771918626862049, 0.0, 0.0, 0.0, 4.442784255567807e-08, 0.0, 0.0, 0.07805270605408478, 1.2696522846092139e-06, -1.0790358776083711e-07, 0.0, 0.0, 0.0, 1.269652284609214e-06, 0.08016313173816005, 1.4901440328568602e-12, 0.0, 0.0, 0.0, -1.0790358776083711e-07, 1.4901440328568598e-12, 0.08016313176004526, 0.0, -1.6924206483375303e-07, 4.4427842555677875e-08, 0.0, 0.0, 0.0, 0.16032626251201518]
Originally posted by EdCherie on ROS Answers with karma: 33 on 2017-03-01
Post score: 0
Original comments
Comment by Tom Moore on 2017-03-01:
Please post sample input messages from all sensors.
Comment by EdCherie on 2017-03-06:
Updated the initial question
Comment by EdCherie on 2017-03-14:
Yeah, that was the problem. Xsens was using older version tf than localization.
Comment by EdCherie on 2017-03-14:
Tom's comment out frame_id was the solution
Comment by Tom Moore on 2017-03-14:
I've promoted that to an answer, which you can accept. Thanks!
