AutonomyLab/create_robot

How to publish covariance for ekf

kc944201 opened this issue · 3 comments

kc944201 commented

HI, I'm using a intel d435i for navigation with create 2

I want to use robot pose ekf package to combine odometry and IMU data

I have seen create_driver.cpp already publish covariance matrix

but when I launch the robot driver, it shows the following error

[ERROR] [1594611946.458760993]: Covariance specified for measurement on topic wheelodom is zero
[ERROR] [1594611946.500368988]: filter time older than odom message buffer

Is the covariance matrix not publish to the topic?

Bscout2011 commented

Hi @kc944201,
The topic /odom has covariance information inside of it.

Is this what you're looking for?

kc944201 commented

Thank you for your reply
I have already resolved the problem.

Krishnakanth9187 commented

@kc944201 how did you solve it.