Is rosbot odom topic from rosbot and microros docker file filtered? because I can see the mean and standard deviation along with time,x,y,z,q_x,q_y,q_z,q_w
Hello @ertyu116,
You can find odometry data in two topics:
robot base controller/odom: contains unfiltered circular odometry dataodometry/filtered:
contains fusions of IMU data with circular odometry using EKF
Can I ask why the /odometry/filtered topic doesn’t start at (0, 0, 0) for x, y, z?
I see the same behavior on /robot_base_controller/odom.
Did you take the measurement immediately after restarting the robot or the ROS driver?
The odometry is 0 only when the ROS drivers are running. If the robot is running, the odometry will be continuously calculated, so any movement the robot makes will permanently change its odometry.
You can also manually reset odometry in ekf using the command:
ros2 service call /reset std_srvs/srv/Empty {} # I will change service name to /ekf/reset in the future
Please provide a more detailed description of the context if the issue is related to something else.