Is there an example of robot_localization with amcl on turtlebot?
I'm trying to get the ekf_localization node working on the turtlebot without adding any sensors, and I'm having problems. I am wondering if this is something that someone has already done and has existing launch files for? The real work I want to do is add more sensors to it but I can't even get fusion of the /odom and /amcl_pose to work. If someone can point me to an example it would help greatly.
As an addition - I suspect my problem has to do with the fact the kobuki base defines a 'base_footprint' which is a parent of 'base_link', and robot_state_publisher publishes odom->base_footprint->base_link while ekf_localization expects a direct odom->base_link transform.
roswtf gives me these errors:
ERROR TF re-parenting contention:
- reparenting of [base_link] to [base_footprint] by [/robot_state_publisher]
- reparenting of [base_link] to [odom] by [/ekf_localization]
ERROR TF multiple authority contention:
- node [/robot_state_publisher] publishing transform [base_link] with parent [base_footprint] already published by node [/ekf_localization]
- node [/ekf_localization] publishing transform [base_link] with parent [odom] already published by node [/robot_state_publisher]