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robot_pose_ekf: PoseWithCovarianceStamped message hard coded to odom #313

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hsmrs opened this issue Feb 23, 2015 · 4 comments
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robot_pose_ekf: PoseWithCovarianceStamped message hard coded to odom #313

hsmrs opened this issue Feb 23, 2015 · 4 comments

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@hsmrs
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hsmrs commented Feb 23, 2015

Hey everyone,

I noticed that in line 393 of odom_estimation.cpp in robot_pose_ekf the PoseWithCovarianceStamped message is hard coded to the "odom" frame instead of using the output_frame_ variable. This seems to me like a bug. I am currently working around it by creating a node to publish the message with the correct frame, but it would be nice to have this fixed.

Thanks!

@mikeferguson
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It seems that maybe it should be set to "output_frame_"? I don't have any time to debug and be sure -- but tested pull requests are definitely very welcome.

@hsmrs
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hsmrs commented Feb 27, 2015

That is my impression as well. Unfortunately I am also in your situation, with no time to debug and test properly if I made the change.

@protobits
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Found the same issue. I think it is a trivial change, this is just output data, so I think it couldn't really affect anything.

@emilyfy
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emilyfy commented Jan 27, 2018

I found it too after wondering why the published topic is on "odom" frame. Tried changing it to output_frame_ and it fixes it and seems to work well.

DLu added a commit to DLu/navigation that referenced this issue Feb 8, 2018
DLu added a commit to DLu/navigation that referenced this issue Feb 8, 2018
DLu added a commit to DLu/navigation that referenced this issue Feb 8, 2018
DLu added a commit that referenced this issue Feb 13, 2018
@DLu DLu closed this as completed in 42d4cca Feb 13, 2018
DLu added a commit that referenced this issue Feb 13, 2018
johaq pushed a commit to CentralLabFacilities/navigation that referenced this issue Mar 30, 2018
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