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1 | initial version |
No, I don't think your setup will work, although I haven't thought through it in great depth. In any case, it's not the way it's intended to be used. The odometry input to navsat_transform_node
can just be your ekf_localization_node
output (it defaults to odometry/filtered). navsat_transform_node
needs the third input (the odometry from your state estimate) because it converts the GPS data into the coordinate frame of that message. Also, if your robot starts out, for example, indoors, and then moves outdoors, you need to know its pose estimate at the moment it starts receiving GPS in order to make the transformed GPS data consistent with your current state estimate.
For you, as soon as your IMU data is fed to the filter, ekf_localization_node
will produce a state estimate, at which point navsat_transform_node
will have all the data it needs.
2 | No.2 Revision |
No, I don't think your setup will work, although I haven't thought through it in great depth. In any case, it's not the way it's intended to be used. The odometry input to navsat_transform_node
can just be your ekf_localization_node
output (it defaults to odometry/filtered). navsat_transform_node
needs the third input (the odometry from your state estimate) because it converts the GPS data into the coordinate frame of that message. Also, if If your robot starts out, for example, indoors, and then moves outdoors, you need to know its pose estimate at the moment it starts receiving GPS in order to make the transformed GPS data consistent with your current state estimate.
For you, as soon as your IMU data is fed to the filter, ekf_localization_node
will produce a state estimate, at which point navsat_transform_node
will have all the data it needs.
3 | No.3 Revision |
No, I don't think your setup will work, although I haven't thought through it in great depth. In any case, it's not the way it's intended to be used. The odometry input to navsat_transform_node
can just be your ekf_localization_node
output (it defaults to odometry/filtered). navsat_transform_node
needs the third input (the odometry from your state estimate) because it converts the GPS data into the coordinate frame of that message. If your robot starts out, for example, indoors, and then moves outdoors, you need to know its pose estimate at the moment it starts receiving GPS in order to make the transformed GPS data consistent with your current state estimate.
For you, as soon as your IMU data is fed to the filter, ekf_localization_node
will produce a state estimate, at which point navsat_transform_node
will have all the data it needs.
EDIT in response to question:
Your final setup will be this:
ekf_localization_node
Inputs
navsat_transform_node
output)Outputs
navsat_transform_node
Inputs
ekf_localization_node
)Outputs
The data path is circular, but it's necessary. Once navsat_transform_node
gets the first odometry message input from ekf_localization_node, it drops its subscription.
4 | No.4 Revision |
No, I don't think your setup will work, although I haven't thought through it in great depth. In any case, it's not the way it's intended to be used. The odometry input to navsat_transform_node
can just be your ekf_localization_node
output (it defaults to odometry/filtered). navsat_transform_node
needs the third input (the odometry from your state estimate) because it converts the GPS data into the coordinate frame of that message. If your robot starts out, for example, indoors, and then moves outdoors, you need to know its pose estimate at the moment it starts receiving GPS in order to make the transformed GPS data consistent with your current state estimate.
For you, as soon as your IMU data is fed to the filter, ekf_localization_node
will produce a state estimate, at which point navsat_transform_node
will have all the data it needs.
EDIT in response to question:
Your final setup will be this:
ekf_localization_node
Inputs
navsat_transform_node
output)Outputs
navsat_transform_node
Inputs
ekf_localization_node
)Outputs
The data path is circular, but it's necessary. Once navsat_transform_node
gets the first odometry message input from ekf_localization_node, IMU message, it drops its the subscription.