simulate a GPS reading from a file

Good morning: I'm working with robot_localization, i have a IMU that work well and a GPS. Now I don't have the hardware GPS however i have a file where i have store data GPS. I want test the system with the IMU and simulate read GPS but since file.

Some idea?

Thanks

Asked by Porti77 on 2015-02-27 04:01:49 UTC

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Answers

Well, you can test robot_localization, but if you are using logged GPS data with live IMU data, it's not going to be pretty. The robot's motion when the GPS data was collected will almost certainly not align with the IMU's orientation over time, so the output will be a little strange.

That said, if you just want to make sure everything is flowing, then I'd suggest writing a new node that reads your GPS data from a file and publishes a sensor_msgs/NavSatFix message with the required data. You'll also need to use navsat_transform_node.

Asked by Tom Moore on 2015-02-27 09:16:37 UTC