Fusing IMU and GPS to the map frame using robot_localization
Similar to the question asked here with respect to fusing GPS and IMU sensor data when those are the only two sensors available. My question is with respect to creating the odom and map frames. Based on the dual_ekf_navsat_example
, an ekf_localization_node1
fuses odom and IMU data inputs and generates an output odometry/filtered
and creates the odom->base_link transform. The second ekf_localization_node2
takes the IMU, odom, and odometry/gps
inputs and generates an output odometry/filtered_map
and creates the odom->map transform. Finally, the navsat_transform_node
takes the gps, imu, and odometry/filtered_map
inputs and generates an output odometry/gps
.
If I don't have an odometry source for the ekf_localization_node1
what is best practice to provide that node with odometry. Also, should the output from ekf_localization_node1
be an input to ekf_localization_node2
?
Once this is set up properly, what is the correct output to use for estimating my robot's current position in the map frame?
Thank you for the help!