robot_pose_ekf ignoring imu_data
I originally posted a question here to which I'm gradually finding the answer to. I'm successfully inputting the data through a vo topic into robot_pose_ekf, however it appears to be ignoring imu_data, also published. Is there a way to verify that robot_pose_ekf is successfully using this data?
EDIT:
I should clarify this appears to be the case since disabling imu_data publishing has no visual effect on the robot's pose, it continues to update the position at the frequency of the localization system with no change in orientation.
Does the robot pose ekf node subscribe correctly to the imu date? Some simple debugging tools: 1) rxplot 2) "rostopic info /imu_data"
Thanks for the reply, Ivan. rostopic show that it is indeed subscribed to robot_post_ekf, and rxplot is showing that IMU data is sucessfully being inputted and updates over time, about 40Hz. Additionally the launch file is requesting data at 30Hz and the vo data is updated at 4Hz.
Hmm, I may have figured this out, according to the documentation the filter only updates when new data has been received from both sensors, i.e., the lowest frequency. I guess pose interpolation isn't possible with this package then?