robot_localization: fuse GPS and Odometry without heading
So, I want to use the robot_localization
package to fuse GPS (GNSS)
data with odometry
data with a UKF
.
Reading the docs I stumbled across the navsat_transform_node
to transform the GPS data to the wordl_frame
, it is stated that the navsat_transform_node
does need 3 inputs to do so:
- coordinates
- heading
- position estimate
The problem now is: I don't have a heading - reading from my GPS as I only use 1 antenna.
Can I fuse GPS and Odometry in a different way without using navsat_transform_node
?
Thanks!
yes you can, in the default config file, with
true
/false
values, you can choose to enable or disable things by changing the config.