I am currently working on Kalman Filters course and on the section 4.11 Configuring the robot_localization package.
Summary / TLDR:
roslaunch ukf_filtering ukf_filtering.launch produces this error:
[FATAL] [1678106298.789320387, 2411.050000000]: Could not read sensor update configuration for topic odom0 (type: 7, expected: 7). Error was type error
The error is confusing as expected type and provided type are the same.
After configuring, building and running
ukf_filtering package as stated in the course notes, I get the following error.
Webshell 1 Output (NO ERROR HERE):
user:~$ roslaunch ekf_ukf auxiliary_nodes.launch ... logging to /home/user/.ros/log/1b54c978-bc16-11ed-83d8-0242c0a8e007/roslaunch-4_xterm-8514.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://4_xterm:40635/ SUMMARY ======== PARAMETERS * /robot_description: <?xml version="1.... * /rosdistro: kinetic * /rosversion: 1.12.14 NODES / noisy_odom_node (ekf_ukf/noisy_odom_republisher.py) robot_state_publisher (robot_state_publisher/robot_state_publisher) spawn_urdf (gazebo_ros/spawn_model) ROS_MASTER_URI=http://4_simulation:11311 process[spawn_urdf-1]: started with pid  process[robot_state_publisher-2]: started with pid  process[noisy_odom_node-3]: started with pid  [INFO] [1678106283.200705, 2395.606000]: Started noisy odometry publisher node [spawn_urdf-1] process has finished cleanly log file: /home/user/.ros/log/1b54c978-bc16-11ed-83d8-0242c0a8e007/spawn_urdf-1*.log
Webshell 2 Output (ERROR HERE):
user:~/catkin_ws$ roslaunch ukf_filtering ukf_filtering.launch ... logging to /home/user/.ros/log/1b54c978-bc16-11ed-83d8-0242c0a8e007/roslaunch-4_xterm-8599.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://4_xterm:35335/ SUMMARY ======== CLEAR PARAMETERS * /ukf_localization_node/ PARAMETERS * /rosdistro: kinetic * /rosversion: 1.12.14 * /ukf_localization_node/base_link_frame: base_link * /ukf_localization_node/frequency: 50 * /ukf_localization_node/imu0: /mobile_base/sens... * /ukf_localization_node/imu0_config: [False, False, Fa... * /ukf_localization_node/imu0_differential: False * /ukf_localization_node/initial_estimate_covariance: ['1e-9', 0, 0, 0,... * /ukf_localization_node/odom0: /odom_noisy * /ukf_localization_node/odom0_config: [False, False, 'f... * /ukf_localization_node/odom0_differential: False * /ukf_localization_node/odom_frame: odom * /ukf_localization_node/process_noise_covariance: [0.05, 0, 0, 0, 0... * /ukf_localization_node/publish_tf: False * /ukf_localization_node/two_d_mode: True * /ukf_localization_node/world_frame: odom NODES / ukf_localization_node (robot_localization/ukf_localization_node) ROS_MASTER_URI=http://4_simulation:11311 process[ukf_localization_node-1]: started with pid  [FATAL] [1678106298.789320387, 2411.050000000]: Could not read sensor update configuration for topic odom0 (type: 7, expected: 7). Error was type error
The error seems confusing to me as it says “type: 7 and expected: 7” and that there is a “type error”. If the expected type and provided type are the same (7 here), why do I get this error?