robot_localization: imu ignored

edit

Hi All,

I'm beginner with robot_localization and ROS in general so would greatly appreciate your help. I've configured the robot_localization launch file to receive an odometry and a imu. The sensor data is actually simulated, so I'm providing only a global position estimate on the odometry message:

  <param name="odom0" value="/head/fake_gps"/>
  <rosparam param="odom0_config">[true, true, true, 
                                  false, false, false, 
                                  false, false, false, 
                                  false, false, false]</rosparam>
  <param name="odom0_differential" value="false"/>

and only a positive yaw velocity and x acceleration on the imu:

  <param name="imu0" value="/head/can_imu"/>
  <rosparam param="imu0_config">[false, false, false, 
                                 false, false, false, 
                                 false, false, false, 
                                 false, false, true,
                                 true, false, false]</rosparam>
  <param name="imu0_differential" value="false"/>

The odometry message is indeed received by robot_localization and the filter initializes and track the position. My problem is that the imu0 is completely ignored. It is not incorporated into the filter, even when the debug output of robot_localization is indeed reporting the reception of the measurement:

----- /FilterBase::integrateMeasurements ------
------ RosFilter::imuCallback (imu0) ------
IMU message:
header: 
  seq: 174
  stamp: 6474.783371000
  frame_id: imu
orientation: 
....

Furthermore, I have the corresponding transformation:

<node pkg="tf" type="static_transform_publisher" name="vehicle_to_head" args="1.70 0 1.40 0 0 0 vehicle head 20" />
<node pkg="tf" type="static_transform_publisher" name="head_to_imu" args="0 0 0 0 0 0 head imu 20" />
<node pkg="tf" type="static_transform_publisher" name="head_to_fakegps" args="0 0 0 0 0 0 head fakegps 20" />

<node name="ekf_localization_node" pkg="robot_localization" type="ekf_localization_node" clear_params="true">
  <param name="odom_frame" value="odom"/>
  <param name="base_link_frame" value="vehicle"/>
  <param name="world_frame" value="odom"/> 
  ....

I know it is not integrating the imu data because no matter what values I assign to the yaw velocity or x acceleration, the filter output is always the same. The assigned covariances are in the order of 0.01*2 for rotation speed and 0.0012 for translation acceleration.

Does anyone can give me a hint of what I might be doing wrong?

I would highly appreciate any help.

EDIT 1: (11/26/2014)

• I don't see any error or warning in the debug output.
• There is no prepareTwist printed in the debug output.
• This is a imu sample: header: seq: 2540 stamp: secs: 6478 nsecs: 433795000 frame_id: imu orientation: x: 0.0 y: 0.0 z: 0.0 w: 1.0 orientation_covariance: [100.0, 0.0, 0.0, 0.0, 100.0, 0.0, 0.0, 0.0, 100.0] angular_velocity: x: 0.0 y: 0.0 z: 0.0872664611111 angular_velocity_covariance: [1.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0001] linear_acceleration: x: 10.0 y: 0.0 z: 0.0 linear_acceleration_covariance: [0.002, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
• I have tried to include only the imu and it is the same, ignored.

EDIT 2:

Yay, Tom, it seems that you are right. It is a problem with the tf.

transforms: 
  - 
    header ...