search

AutonomyLab / create_robot

ROS driver for iRobot Create 1 and 2.
http://www.autonomylab.org/create_autonomy
BSD 3-Clause "New" or "Revised" License
198 stars 165 forks source link

How to publish covariance for ekf #67

Closed kc944201 closed 3 years ago

kc944201 commented 4 years ago

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 3 years ago

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

Is this what you're looking for?

kc944201 commented 3 years ago

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

Krishnakanth9187 commented 1 year ago

@kc944201 how did you solve it.