Fusing IMU data with GPS navsat: map frame drifting [robot_localization_package]
Hi, I am creating a global configuration file to obtain global position using GPS and IMU data.
odom0: /odometry/gps odom0_config: [true, true, false,
false, false, false,
false, false, false,
false, false, false,
false, false, false] odom0_queue_size: 1 odom0_nodelay: true odom0_differential: false odom0_relative: false
imu0: /imu/data imu0_config: [false, false, false,
true true, true,
false, false, false,
false, false, false,
false, true, false] imu0_nodelay: false imu0_differential: false imu0_relative: false imu0_queue_size: 3 imu0_remove_gravitational_acceleration: true
use_control: false
And for some reason map frame is drifting around instead of being fix. Any suggestions? thanks, Bruno PS: I dont have wheel odometry
Can you be a bit more specific? GPS is known to high jitter (up to 100m), but it should not drift.