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1- What are the options of using the GPS with RVIZ or any other tool, and is it necessary to convert longitude and latitude to UTM system.
Yes, you must use a cartesian coordinate system for transforms and therefore with rviz. UTM is a decent approximation for this and I've seen many people use it in the past.
2- If GPS is connected to a frame like base link and base link is provide The GPS data as an odometer after changing it to UTM then base link and odometer must be at the same coordination. When I view it, but its not at the same coordination. note that I am subscribing to odom and publish the GPS with IMU data as an odom1. but odom1 and odom not in the same x and y pose, I don't know why.
I don't understand what you're saying here.
Usually you pick an arbitrary origin (some pair of UTM coordinates) and use that as the origin for your /odom
frame. That keeps the transforms small when the UTM coordinates are large (tens of thousands of meters or more). Then you use the difference of the current UTM coordinate and the arbitrary origin as the transform between /odom
and /base_link
. I don't understand how you're using the IMU data in this case. It is usually rendered separately in the robot's frame (or the IMU's frame if it is different) or it is integrated with the GPS solution separately.
3- If I use the RVIZ it will start viewing from 0,0 or from the base link coordination aka the GPS.
I don't think this is a question, but it might have something to do with using an arbitrary origin or you might just need to adjust your "target frame" which is the frame the view controller operates in.