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If GPS is missing them you will rely on continuous sensory data such as wheel odometry+Imu, despite being able to deal with accumulative drift errors, GPSs are not always reliable under bad weather or poor connection conditions. Depending on quality and setup of your GPS device you may also get constant jumps around. Robot localization package wiki explains this thoroughly, you are encouraged to take a look into Integratong GPS data section. As final word to your question, do your navigation and planning on continuous data instance of EKF

If GPS is missing them then you will rely on continuous sensory data such as wheel odometry+Imu, despite being able to deal with accumulative drift errors, GPSs are not always reliable under bad weather or poor connection conditions. Depending on quality and setup of your GPS device you may also get constant jumps around. Robot localization package wiki explains this thoroughly, you are encouraged to take a look into Integratong Integrating GPS data section. As final word to your question, do your navigation and planning on continuous data instance of EKFEKF, in that case even you miss some signals from GPS, the system still should be able to function