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getting error in ekf

See original GitHub issue

I’m not using depth sensor.

[ekf_node-2] Warning: Invalid frame ID "base_footprint" passed to canTransform argument target_frame - frame does not exist [ekf_node-2] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp [ekf_node-2] Warning: Invalid frame ID "base_footprint" passed to canTransform argument target_frame - frame does not exist [ekf_node-2] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp [ekf_node-2] Warning: Invalid frame ID "imu_link" passed to canTransform argument source_frame - frame does not exist [ekf_node-2] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp [ekf_node-2] Warning: Invalid frame ID "imu_link" passed to canTransform argument source_frame - frame does not exist [ekf_node-2] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp [ekf_node-2] Warning: Invalid frame ID "imu_link" passed to canTransform argument source_frame - frame does not exist [ekf_node-2] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp [ekf_node-2] Warning: Invalid frame ID "imu_link" passed to canTransform argument source_frame - frame does not exist [ekf_node-2] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp

Issue Analytics

State:
Created 2 years ago
Comments:24 (10 by maintainers)

Top GitHub Comments

1reaction

raidhucommented, Nov 14, 2021

updated ekf.yaml

`ekf_filter_node: ros__parameters: frequency: 50.0 two_d_mode: true publish_tf: true

    map_frame: map             
    odom_frame: odom            
    base_link_frame: base_footprint 
    world_frame: odom 
	transform_time_offset: 0.1
    transform_timeout: 0.1

    #x     , y     , z,
    #roll  , pitch , yaw,
    #vx    , vy    , vz,
    #vroll , vpitch, vyaw,
    #ax    , ay    , az
    odom0: odom/unfiltered
    odom0_config: [false, false, false,
                   false, false, false,
                   true, true, false,
                   false, false, true,
                   false, false, false]

    imu0: imu/data
    imu0_config: [false, false, false,
                  false, false, false,
                  false, false, false,
                  false, false, true,
                  false, false, false]`

0reactions

grassjellycommented, Nov 14, 2021

Great! Could you please share your updated ekf.yaml here? Would be useful for other users. Please file another issue if you’re having problems with mapping. Thanks

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