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1 | initial version |
Note that /gps/fix includes GPS points (decimal degree format) which are both the single point precision(SPP) points as well as the RTK corrected points. I had to modify the gps driver so that the status information reflects the message type (SPP/RTK). Does the navsat_transform_node take into consideration whether the point is augmented or not? Does it need to?
So /gps/fix
is one topic that is outputting a sensor_msgs/NavSatFix message, correct? I'm not quite following what you mean here; can you post a sample message? What did you modify in your driver, and how is that reflected in the message?
From what I understand, a single SPP GPS and a single IMU can work but may not be very accurate. How would I go about including the RTK position information? Should I set the datum to the base station position or would that mess up the global coordinates?
If the RTK data is outputting a world-frame pose as a nav_msgs/Odometry
message, I would advise that you not bother with the /gps/fix
data or navsat_transform_node
. If you want to include the IMU data, I would just fuse the odometry and IMU data as inputs to a single instance of the filter.
2 | No.2 Revision |
Note that /gps/fix includes GPS points (decimal degree format) which are both the single point precision(SPP) points as well as the RTK corrected points. I had to modify the gps driver so that the status information reflects the message type (SPP/RTK). Does the navsat_transform_node take into consideration whether the point is augmented or not? Does it need to?
So /gps/fix
is one topic that is outputting a sensor_msgs/NavSatFix message, correct? I'm not quite following what you mean here; can you post a sample message? What did you modify in your driver, and how is that reflected in the message?
From what I understand, a single SPP GPS and a single IMU can work but may not be very accurate. How would I go about including the RTK position information? Should I set the datum to the base station position or would that mess up the global coordinates?
If the RTK data is outputting a world-frame pose as a nav_msgs/Odometry
message, I would advise that you not bother with the /gps/fix
data or navsat_transform_node
. If you want to include the IMU data, I would just fuse the /gps/rtkfix
odometry and IMU data as inputs to a single instance of the filter.
3 | No.3 Revision |
Note that /gps/fix includes GPS points (decimal degree format) which are both the single point precision(SPP) points as well as the RTK corrected points. I had to modify the gps driver so that the status information reflects the message type (SPP/RTK). Does the navsat_transform_node take into consideration whether the point is augmented or not? Does it need to?
So /gps/fix
is one topic that is outputting a sensor_msgs/NavSatFix message, correct? I'm not quite following what you mean here; can you post a sample message? What did you modify in your driver, and how is that reflected in the message?
From what I understand, a single SPP GPS and a single IMU can work but may not be very accurate. How would I go about including the RTK position information? Should I set the datum to the base station position or would that mess up the global coordinates?
If the RTK data is outputting a world-frame pose as a nav_msgs/Odometry
message, I would advise that you not bother with the /gps/fix
data or navsat_transform_node
. If you want to include the IMU data, I would just fuse the /gps/rtkfix
odometry and IMU data as inputs to a single instance of the filter.
EDIT in response to updates:
A couple more things:
link0_broadcaster
static transform broadcaster make sense, as you can replace the first-tier EKF that way (note that you could also just run the EKF and everything else in the odom frame, but this works too). However, I am concerned about the second static transform, link1_broadcaster
. You have defined it from map->gps, but your GPS isn't located at (0, 0) in the map frame. It's affixed to your robot. The transform should go from base_link-gps.