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Have a look at this repo: https://github.com/nickcharron/waypoint_nav. It's specifically for doing outdoor gps waypoint navigation with Clearpath Husky robot, but it's a nice, generic example of using the robot_localization package (ekf_localization_node, navsat_transform_node) to fuse GPS, IMU, and wheel odometry. You can run the whole thing in simulation, just to get a feel for how the whole thing hangs together. With all of this stuff, the devil is in the (configuration) details, and that repo has a nice, working set of config files for outdoor waypoint navigation. Makes a great jumping-off point.

Have a look at this repo: https://github.com/nickcharron/waypoint_nav. It's specifically for doing outdoor gps waypoint navigation with a Clearpath Husky robot, but it's a nice, generic example of using the robot_localization package (ekf_localization_node, navsat_transform_node) to fuse GPS, IMU, and wheel odometry. You can run the whole thing in simulation, just to get a feel for how the whole thing hangs together. With all of this stuff, the devil is in the (configuration) details, and that repo has a nice, working set of config files for outdoor waypoint navigation. Makes a great jumping-off point.

Have a look at this repo: https://github.com/nickcharron/waypoint_nav. It's specifically for doing outdoor gps GPS waypoint navigation with a Clearpath Husky robot, but it's a nice, generic example of using the robot_localization package (ekf_localization_node, navsat_transform_node) to fuse GPS, IMU, and wheel odometry. You can run the whole thing in simulation, just to get a feel for how the whole thing hangs together. With all of this stuff, the devil is in the (configuration) details, and that repo has a nice, working set of config files for outdoor waypoint navigation. Makes a great jumping-off point.