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i've finally gotten my rtabmap to work but i want to add in my gps to get better results. i got a seperate gps modual and already setup the latitude longitude and altitude for the msg but i don't know what to do for the status, service, position_covariance, and position_covariance_type. im assuming the service is just how many satalites it's connected to but i can't find any information that tells me what each one is.
rtabmap uses only the following minimal parameters from the message:
If the position_covariance is not set, it will use a 10 meters error by default.
Reference https://github.com/introlab/rtabmap_r...:
double error = 10.0;
if(gpsFixMsg->position_covariance_type != sensor_msgs::NavSatFix::COVARIANCE_TYPE_UNKNOWN)
{
double variance = uMax3(gpsFixMsg->position_covariance.at(0), gpsFixMsg->position_covariance.at(4), gpsFixMsg->position_covariance.at(8));
if(variance>0.0)
{
error = sqrt(variance);
}
}
gps_ = rtabmap::GPS(
gpsFixMsg->header.stamp.toSec(),
gpsFixMsg->longitude,
gpsFixMsg->latitude,
gpsFixMsg->altitude,
error,
0);
Asked: 2020-11-03 11:43:34 -0600
Seen: 335 times
Last updated: Nov 13 '20
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