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1 | initial version |
First, see my answer to this question, which I think is similar to yours.
Second, are you taking in landmark updates to provide a (potentially discontinuous) pose estimate, or are you using GPS? navsat_transform_node
is also necessary if you are working with GPS data.
A typical use case would be:
ekf_localization_node
or ukf_localization_node
instance one: fuse continuous measurement source, e.g., odometry and IMU data. The world_frame
for this instance is the same value as your odom_frame
; this is typically odom. Alternatively, some robots provide an odometry message and the odom->base_link transform. This is typically less accurate than a solution with fused data sources, but it may fit you needs.ekf_localization_node
or ukf_localization_node
instance two: fuse the same data as in instance one, but also fuse discontinuous sources like GPS or position updates from landmark observations. The world_frame
for this instance is the same value as your map_frame
; this is typically map. This instance is really only necessary if you have discontinuous measurement sources.To more directly answer your question, for navsat_transform_node
, the frame_id
of the /odometry/gps
message that gets created is depedent on the frame_id of the odometry message that gets fed to it.
2 | No.2 Revision |
First, see my answer to this question, which I think is similar to yours.
Second, are you taking in landmark updates to provide a (potentially discontinuous) pose estimate, or are you using GPS? navsat_transform_node
is also only necessary if you are working with GPS data.
A typical use case would be:
ekf_localization_node
or ukf_localization_node
instance one: fuse continuous measurement source, e.g., odometry and IMU data. The world_frame
for this instance is the same value as your odom_frame
; this is typically odom. Alternatively, some robots provide an odometry message and the odom->base_link transform. This is typically less accurate than a solution with fused data sources, but it may fit you needs.ekf_localization_node
or ukf_localization_node
instance two: fuse the same data as in instance one, but also fuse discontinuous sources like GPS or position updates from landmark observations. The world_frame
for this instance is the same value as your map_frame
; this is typically map. This instance is really only necessary if you have discontinuous measurement sources.To more directly answer your question, for navsat_transform_node
, the frame_id
of the /odometry/gps
message that gets created is depedent on the frame_id of the odometry message that gets fed to it.