GPS robot_localization point-to-point navigation
I started to work with robot_localization package for the odometry of my robot and currently the local odometry is working good (the transform "odom -> base_link" has low error). I need to do point-to-point navigation and I would like to use the same package to get the global positioning using a GPS.
I am going to upload the launch file that I use and a bag file. Te route recorded in the bag file is a straight line facing to the south approximately, the robot did a round trip and it finished in the same place that he started, the return way was done in reverse walking ( I didn't want to turn because my model of the robot for the odometry is not appropriate for this terrain). I would be very thankful if somebody can take a look at it and say me if this is a correct configuration and the output is correct. (launch and bag )
My problem is I do not quite understand the meaning of each frame and, for example, if i want to move the robot to a desired position (latitude and longitude), I do not know the position of the goal relative to my robot. I think I could transform the goal to UTM coordinates, but even with this, I can't realize from what frame to what frame I should make the transform. My principal idea is to transform the goal position to UTM and make a frame whose parent is the UTM frame published from the robot_localization package and work with it, but this frame is very far and (I think) imprecise that I do not know if it is the correct way to deal with the package.
May somebody explain the frames of this package and how could I use them to naviagete with my GPS? I would need the relative position of the goal refered to the position of the robot or the global position of both, robot and goal.
Thank you very much in advance.
