0
$\begingroup$

No data on /odometry/filtered topic or /accel/filtered

  • Operating System: Ubuntu 20.04 with ros2-galactic

  • Version or commit hash: Galactic

I run the sam_bot_description with robot_localization package and do everything follow the tutorial but I finally got nothing on /odometry/filtered topic or /accel/filtered. Same issue was raised here. I do some log and find that in ros_filter.cpp the code can not run into the function periodicUpdate, take it a step further the GenericTimer seems not work.

Here are my configs:

ekf.yaml

### ekf config file ###
ekf_filter_node:
    ros__parameters:
        frequency: 30.0
        
        two_d_mode: true


        publish_acceleration: true


        publish_tf: true

        map_frame: map              # Defaults to "map" if unspecified
        odom_frame: odom            # Defaults to "odom" if unspecified
        base_link_frame: base_link  # Defaults to "base_link" if unspecified
        world_frame: odom           # Defaults to the value of odom_frame if unspecified
        
        odom0: demo/odom
        odom0_config: [true,  true,  true,
                       false, false, false,
                       false, false, false,
                       false, false, true,
                       false, false, false]

        imu0: demo/imu
        imu0_config: [false, false, false,
                      true,  true,  true,
                      false, false, false,
                      false, false, false,
                      false, false, false]

/demo/odom topic example

header:
  stamp:
    sec: 24
    nanosec: 189000000
  frame_id: odom
child_frame_id: base_link
pose:
  pose:
    position:
      x: -0.03759067140723816
      y: -0.0023609152082093047
      z: 0.14999993298624248
    orientation:
      x: 6.509042187883274e-10
      y: -2.640566439842143e-07
      z: 0.003516313083732562
      w: 0.9999938177520036
  covariance:
  - 1.0e-05
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 1.0e-05
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 1000000000000.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 1000000000000.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 1000000000000.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.001
twist:
  twist:
    linear:
      x: -5.0849818749082225e-05
      y: -9.770125870969304e-07
      z: 0.0
    angular:
      x: 0.0
      y: 0.0
      z: -1.4257132224450308e-05
  covariance:
  - 1.0e-05
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 1.0e-05
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 1000000000000.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 1000000000000.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 1000000000000.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.001

/demo/imu topic example

header:
  stamp:
    sec: 84
    nanosec: 681000000
  frame_id: base_link
orientation:
  x: 1.1485564875264961e-07
  y: -5.079394103830597e-07
  z: 0.004674315959578903
  w: 0.9999890753253451
orientation_covariance:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
angular_velocity:
  x: 4.5816004280837495e-05
  y: -0.029221514384616412
  z: 0.00019714186140762515
angular_velocity_covariance:
- 4.0e-08
- 0.0
- 0.0
- 0.0
- 4.0e-08
- 0.0
- 0.0
- 0.0
- 4.0e-08
linear_acceleration:
  x: -0.57072047682203
  y: -0.10925454000164085
  z: 10.067838187100122
linear_acceleration_covariance:
- 0.00028900000000000003
- 0.0
- 0.0
- 0.0
- 0.00028900000000000003
- 0.0
- 0.0
- 0.0
- 0.00028900000000000003
---

here is my tf tree. The odom->base_link transform is published by gazebo plugin diff_driver. But whatever the transform is published or not, the issue still exists. No data on /odometry/filtered topic or /accel/filtered topic

enter image description here

I will appreciate it if anyone can help me.

Please let me know if more information is required about the issue.

$\endgroup$
1
  • $\begingroup$ I believe we're working on this in the issue tracker, I don't think its needing to be cross posted here. $\endgroup$ Jan 21 at 0:29

0

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy

Browse other questions tagged or ask your own question.