From 7d4e6dfc239e0d9e081fe3bd8a7872080870dc1f Mon Sep 17 00:00:00 2001 From: Grant du Toit Date: Sat, 20 Jun 2026 13:39:02 +0000 Subject: [PATCH] Fix EKF IMU input: point imu0 at real MAVROS topic - ekf.yaml imu0: /imu/data -> /mavros/mavros/data (the empty /imu/data topic had no publisher; EKF produced no output) - Verified: /odometry/filtered now publishes valid fused orientation with real Pixhawk IMU via MAVROS - Note: high covariance expected (single budget IMU, untuned, no position input) - tune after Xsens/DVL added --- src/rov_navigation/config/ekf.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/rov_navigation/config/ekf.yaml b/src/rov_navigation/config/ekf.yaml index 4db5c48..1054b42 100644 --- a/src/rov_navigation/config/ekf.yaml +++ b/src/rov_navigation/config/ekf.yaml @@ -12,7 +12,7 @@ ekf_filter_node: base_link_frame: base_link world_frame: odom # Xsens IMU — primary attitude source - imu0: /imu/data + imu0: /mavros/mavros/data imu0_config: [false, false, false, true, true, true, false, false, false,