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The covariances are zero here as well. If those get populated correctly it should all work. So the actual question seems solved. link text Link to a simple start to get into the covariance matrix topic.

Thanks Dragonslayer' really you have saved me. The error was exist because the covariances are zero, so I added the covariance in base_odometry_node

msg.pose.covariance = {cov_x, 0, 0, 0, 0, 0, 
                        0, cov_y, 0, 0, 0, 0,
                        0, 0, 99999, 0, 0, 0,
                        0, 0, 0, 99999, 0, 0,
                        0, 0, 0, 0, 99999, 0,
                        0, 0, 0, 0, 0, rcov_z};

Thanks

The covariances are zero here as well. If those get populated correctly it should all work. So the actual question seems solved. link text Link to a simple start to get into the covariance matrix topic.

Thanks Dragonslayer' really Dragonslayer'. Really you have saved me. The error was exist because the covariances are zero, so I added the covariance in base_odometry_node

msg.pose.covariance = {cov_x, 0, 0, 0, 0, 0, 
                        0, cov_y, 0, 0, 0, 0,
                        0, 0, 99999, 0, 0, 0,
                        0, 0, 0, 99999, 0, 0,
                        0, 0, 0, 0, 99999, 0,
                        0, 0, 0, 0, 0, rcov_z};

Thanks