Question 1.. Can I just use wheel odometry data and imu data and get effective kalman updated data using robot_pose_ekf package?Is there any package which is more handy which I overlooked?
Question 2.. The output of /robot_pose_ekf/odom_combined is same as the /pose published by wheel odometry. Do I have to make any changes?
Question3..Message update rate is around 5 sec and can I decrease it ?
I tried changing the freq parameter in robot_pose_ekf.launch from 30 hz to 120 hz but the update comes around once in 5 sec.
Sometimes the output does not start immediately.
nutan@nutan-laptop:~$ rostopic hz /robot_pose_ekf/odom_combined
subscribed to [/robot_pose_ekf/odom_combined]
average rate: 0.018
min: 55.560s max: 55.560s std dev: 0.00000s window: 2
no new messages
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average rate: 0.033
min: 5.054s max: 55.560s std dev: 25.25297s window: 3
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average rate: 0.046
min: 5.053s max: 55.560s std dev: 23.80890s window: 4
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average rate: 0.057
min: 5.053s max: 55.560s std dev: 21.86982s window: 5
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average rate: 0.066
min: 5.053s max: 55.560s std dev: 20.20241s window: 6
no new messages
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Originally posted by sai on ROS Answers with karma: 1935 on 2012-09-23
Post score: 0