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ethz-asl / ethzasl_msf

MSF - Modular framework for multi sensor fusion based on an Extended Kalman Filter (EKF)
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Message synchronization #163

Closed baryn closed 11 months ago

baryn commented 7 years ago

Hi,

First of all, thanks a lot for sharing this amazing work. I have been able to run the tutorial with the dataset.bag and now I am trying to use my own containing two topics populated with pose measurements (30Hz) and imu readings (150Hz) respectively but I get this error msg after a few seconds:

[ERROR] [1495464561.512402042]: ProcessIMUlatest IMU message was out of order by a too large amount, resetting EKF: last-state-time: 1548.29 current-imu-time: 1544 and the process stops, no new msgs are published on the topic /msf_core/pose for example.

Does it mean my IMU msg is to much delayed ? Is there something about clock synchronization somehow ? Note that both my topic headers start with the same ros time stamp and I have no data gaps. I would greatly appreciate some help on this one.

PS: extra question: It is written on the tutorial that the _/msfcore/pose msg which is published at IMU rate should be used for robot control, but I would like to have the full estimated state (p,p_dot,R,Rdot) published at IMU rate. The /msf_core/stateout msg does this job but is it published at pose rate (30Hz here), too low for robot control. Am I missing something here ?

Thanks a lot.

IamARR commented 6 years ago

Hi,

Did you achieved the solution of this error? If the answer is yes, I would like to know how to fix it.

Thanks a lot.

baryn commented 6 years ago

Hi,

No, I didn't find a way to solve this. I haven't worked on it for a while now. Sorry, I cannot help you.

Cheers.

m-kzein commented 4 years ago

Did Anybody solve this issue? Any help would be really appreciated!