[ros-users] EKF Error

Wim Meeussen meeussen at willowgarage.com
Mon May 17 19:38:50 UTC 2010

> 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:
<http://www.ros.org/wiki/robot_pose_ekf/Troubleshooting>. 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


Wim Meeussen
Willow Garage Inc.

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