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Data Troubleshooting#

/odometry/filtered is not published#

Symptom: The topic does not appear in ros2 topic list after launching the EKF.

Cause: The EKF node failed to start, or its input topics are not being published so it has not yet produced any output.

Fix: Confirm the EKF node is running:

ros2 node list | grep ekf

Confirm the input topics are live:

ros2 topic echo /micipsa_base_controller/odom --once
ros2 topic echo /micipsa_base/imu/data --once

If either input is missing, the upstream package (micipsa_control or micipsa_hardware / micipsa_simulation) has not been launched or has failed. The EKF will not publish until it receives at least one message on a configured input.

/map not published#

  • Verify LiDAR is publishing at the expected rate: ros2 topic hz /scan
  • Verify the odom → base_footprint TF exists: ros2 run tf2_ros tf2_echo odom base_footprint
  • Check that frame IDs in mapper_params_online_async.yaml (odom_frame, base_frame, map_frame) exactly match what your robot publishes
  • Check slam_toolbox node logs for initialisation errors: ros2 node list then ros2 node info /slam_toolbox

If robot_localization (or similar package) is not running or not publishing the odom → base_footprint transform, SLAM Toolbox will fail silently, it requires this transform to integrate scans.