Covariance not added to publisher

[jsonvillanueva]

Around line #1041, the publisher node odom begins setting the messages for twist and pose, but the cov_odo calculation is not included. Additionally, the 9 covariance values seems to fluctuate between +- nan when played from a bag file. Is there a reason this isn't added to the publisher? This becomes problematic when attempting to use laser odometry in addition to other forms of odometry in an EKF.

[soutieslak]

I am also getting this problem. I am confused why the covariance matrix is always 0. I am also wanting to use this odometer topic together with the robot_pose_ekf, but it doesn't allow for the covariance matrix to be zero. Any way to fix this?

I also saw that lots of the values are 0.13e-4 so it could be that they are not zero, just really small and they are trimmed to appear as zero. How can one overcome this problem?

[soutieslak]

I asked a question related to this here:

https://github.com/MAPIRlab/mapir-ros-pkgs/issues/1