> We are currently trying to run the ros ekf package with two input sources, > odom motor data, and gps data. The gps data is remapped to the visual > odometry message. We are receiving this error when running the EKF: > [ERROR] 1274121205.429497000: filter time older than vo message buffer > > What is the cause of this error? Take a look at the robot pose ekf troubleshooting page: . This error basically occurs when the timestamps of your odom and gps messages differ more than 10 seconds. You should check the timestaps you assign to your sensor messages. For the filter to work properly, it is very important that the sensor data is timestamped correctly, otherwise the robot pose ekf will e.g. be merging old gps data with recent odom data. Wim -- -- Wim Meeussen Willow Garage Inc.