cannnot get orientation and twist when I use navsat_transform_node
I am using robot_localization. I cannot get orientation and twist when I use navsat_transform_node
/odometry/gps:
header:
seq: 28094
stamp:
secs: 937
nsecs: 125000000
frame_id: map
child_frame_id: ''
pose:
pose:
position:
x: 2.49630257778
y: 17.7388892993
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
covariance: [1e-08, -5.048709793414476e-29, 0.0, 0.0, 0.0, 0.0, 5.048709793414476e-29, 1e-08, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-08, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
configuration:
<!-- Launch file for navsat_transform_node -->
<launch>
<node pkg="robot_localization" type="navsat_transform_node" name="husky1_navsat_transform_node" respawn="true" output="screen">
<param name="frequency" value="30"/>
<param name="delay" value="3"/>
<param name="magnetic_declination_radians" value="0.00003"/>
<param name="yaw_offset" value="0"/>
<param name="zero_altitude" value="true"/>
<param name="broadcast_utm_transform" value="true"/>
<param name="publish_filtered_gps" value="true"/>
<param name="use_odometry_yaw" value="false"/>
<param name="wait_for_datum" value="false"/>
<remap from="/imu/data" to="/husky1/imu/data"/>
<remap from="/odometry/filtered" to="/husky1/odometry/global"/>
<remap from="/gps/fix" to="/husky1/navsat/fix"/>
<remap from="/odometry/gps" to="/husky1/navsat/utm"/>
<remap from="/gps/filtered" to="/husky1/navsat/fix/filtered"/>
</node>
</launch>
/husky1/odometry/global:
---
header:
seq: 42357
stamp:
secs: 1412
nsecs: 656000000
frame_id: map
child_frame_id: base_link
pose:
pose:
position:
x: 5.67409634562
y: -0.00536289633199
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.000118362412395
w: 0.999999992995
covariance: [70.66050408625279, 1.657914765327644e-06, 0.0, 0.0, 0.0, -2.806335318895866e-15, 1.6579147653275846e-06, 70.66541949291299, 0.0, 0.0, 0.0, -4.383180677631162e-12, 0.0, 0.0, 4.99170811431798e-07, -1.5429649866114815e-18, 2.7391211179689968e-14, 0.0, 0.0, 0.0, -1.542964986611482e-18, 4.983498248917792e-07, 5.097058643510261e-23, 0.0, 0.0, 0.0, 2.7391211179689968e-14, 5.0970586584165347e-23, 4.983498248908744e-07, 0.0, -2.8063353188958655e-15, -4.383180677631163e-12, 0.0, 0.0, 0.0, 9.99999583339231e-10]
twist:
twist:
linear:
x: -1.00203964705
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: -0.015310633634
covariance: [0.0007568863759984565, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0007568863759984565, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.987593009686394e-07, -4.578453641153633e-26, 6.566583313329733e-23, 0.0, 0.0, 0.0, -4 ...