No data in ekf_state_out

[XinkeAE]

HI,

I'm trying to implement your framework on our asctec pelican.

I got the asctec_mav_framework compiled on my machine and download the sample parameter file from:

http://wiki.ros.org/ethzasl_sensor_fusion/Tutorials/sfly_framework?action=AttachFile&do=view&target=fcu_parameters.zip

I put the file in folder: src/asctec_mav_framework/asctec_hl_interface/launch

And use: roslaunch asctec_hl_interface fcu.launch to fire the interface node.

1. Weirdly when I open the rqt_reconfigure I saw the parameter is not the same as the fcu_parameters.yaml. For example: state_estimation is not HighLevel_EKF but STATE_EST_OFF. What should I do to change the default setting?

1. I tried to use: rostopic echo /fcu/ekf_state_out to take a look of the predication result from the micro-controller but I got nothing. Could you guys give me some hints on this?
2. To set the framework up, I followed the tutorial: http://wiki.ros.org/ethzasl_sensor_fusion/Tutorials/sfly_framework It said I can use the pose_sensor in msf to do sensor fusion, but according to the launch file, the msf_pose_sensor only reads the imu raw data instead of the predicted data from the microcontroller. In this case, I just assume I should change the launch file to get the predicted data(do some remapping). Am I correct?

Thank you guys so much!

-Xinke

[markusachtelik]

sorry for that one - in the file, you need to add fcu/ before the parameter names. you can have a look at the example file in this package https://github.com/ethz-asl/asctec_mav_framework/blob/master/asctec_hl_interface/launch/fcu_parameters.yaml

@stephanweiss : could you take care of updating the file on the wiki?

[XinkeAE]

Hi Markus,

After changing the parameter file, I can get the ekf_state_out data from the HLP.

Thanks!