Hi,
I am using a MMP for navigation and mapping. I got trouble while rotating with move_base and debugged the robot_pose_ekf data. Here are my strange results :
- when `imu_used : false` in the ekf.yaml file, I sent a move_base goal of 90 degrees to the left and the robot rotated 90 degrees to the left, and /encoder topic gave expected quaternions. Looked fine.
- Then I set `imu_used: true` and I sent the move_base goal of 90 degrees to the left (after restarting the roscore to set the new parameter). The robot rotated about ***170 degrees*** -instead of 90- but the quaternions in /imu/data and /robot_pose_ekf/odom are fine (I mean expected data).
- I created a node to rotate 90 degrees using only IMU data and the robot rotated 90 degrees as expected.
Can the error be from parameters in move_base? I checked the frames, looks fine too.
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