Check for valid position estimate, using stereo-vision camera

Does anyone know or have any advice on this error or how to bypass it altogether as it is so annoying. I have been trying everything for weeks, with my ROS C++ code, with calibration, setting parameters such as EKF2_EVP_GATE to mad values of 1000 for the standard deviation yet this error still haunts me. There are times when it mighn’t pop up at all for a long time, but then it pops back up and everything comes to a halt.

I’m using ROS to send Odometry data from a ZED 2i stereo-vision camera and everything is being sent correctly, it’s just the EKF2 estimator has problems with accepting the data at times. Any help would be greatly appreciated.

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