Hi to all, hi @Tom Moore,

my configuration includes Novatel RTK GPS, Razor IMU and Husky with wheel encoders. I would like to implement a GPS waypoint navigation in ROS by using robot_localization and navsattransformnode as discussed in this previous topic.

My Razor IMU with ROS driver report non-zero values when facing EAST, so I added the yaw_offset to make the IMU work accordingly with navsat_transform_node.

My imu topic is: /imu

My GPS topic is: /fix

I tried to modify my control.launch file in order to add the navsat_transform_node, but I don't know if it is correct. I do not know if I correctly handled the two robot_localization nodes in the control.launch file.

If I tried to playback my recorded bag file in RVIZ, I receive this error:

Fixed Frame [map] does not exist
No transform from [base_footprint] to frame [map]

If I change the fixed_frame to odom, I see my robot jumping randomly in RVIZ without any reason.

If I set fixed_frame to map, I get this error:

[ERROR] [1489506379.984277505, 45.920000000]: Could not obtain transform from odom->base_link

May be I did some mistake with the frames, can you please give me some suggestions on how to solve this problem? Do you have the possibility to run my bag file?

If I change the world_frame in test.yaml file, I get an error when I launch the Husky control.launch file.

Can you please give me any suggestions, please?

EDIT1: I added the magnetic declination for the GPS.

My control.launch file:

<?xml version="1.0"?>
<launch>
  <rosparam command="load" file="$(find husky_control)/config/control.yaml" />

  <node name="base_controller_spawner" pkg="controller_manager" type="spawner" args="husky_joint_publisher husky_velocity_controller --shutdown-timeout 3"/>

  <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" respawn="true">
    <param name="magnetic_declination_radians" value="0.0640"/>
    <param name="yaw_offset" value="1.5707963"/>
    <remap from="/imu/data" to="/imu" />
    <remap from="/gps/fix" to="/fix" />
    <remap from="/odometry/filtered" to="/odometry/filtered" />
  </node>

  <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization">
    <rosparam command="load" file="$(find husky_control)/config/test.yaml" />
     <param name="two_d_mode" value="false"/>
  </node>

  <node pkg="interactive_marker_twist_server" type="marker_server" name="twist_marker_server" output="screen"/>

  <node pkg="twist_mux" type="twist_mux" name="twist_mux">
    <rosparam command="load" file="$(find husky_control)/config/twist_mux.yaml" />
    <remap from="cmd_vel_out" to="husky_velocity_controller/cmd_vel"/>
  </node>

<node pkg="tf" type="static_transform_publisher"  name="base_to_realsense"
      args="-0.3 0 1.1 1.5 3.14 1.5 /front_bumper_link /realsense_frame 100" />
 <node pkg="tf" type="static_transform_publisher"  name="base_to_laser"
      args="-0.3 0 0.6 0 0 0 /front_bumper_link /laser 100" />
<node pkg="tf" type="static_transform_publisher"  name="base_to_color"
      args="0 0 0 0 0 0 /realsense_frame /camera_color_optical_frame 100" />
<node pkg="tf" type="static_transform_publisher"  name="base_to_depth"
      args="0 0 0 0 0 0 /realsense_frame /camera_depth_optical_frame 100" />
<!-- <node pkg="tf" type="static_transform_publisher"  name="base_to_imu"
      args="0 0 0 0 0 0 /imu_link /base_imu 100" /> -->
 <node pkg="tf" type="static_transform_publisher"  name="base_to_gps"
      args="-0.3 0 0.9 0 0 0 /front_bumper_link /gps 100" />
<node pkg="tf" type="static_transform_publisher"  name="base_to_imu"
      args="0 0 0 0 0 0 /base_link /base_imu_link 100" />

</launch>

My test.yaml file:

map_frame: map
odom_frame: odom
base_link_frame: base_link
world_frame: odom

two_d_mode: false

frequency: 50

odom0: husky_velocity_controller/odom
odom0_config: [true, true, false,
               false, false, true,
               true, false, false,
               false, false, true,
               false, false, false]
odom0_differential: false
odom0_queue_size: 10

imu0: imu
imu0_config: [false, false, false,
              true, true, true,
              false, false, false,
              true, true, true,
              true, true, true]
imu0_differential: false
imu0_queue_size: 10
imu0_remove_gravitational_acceleration: true

odom1: odometry/gps
odom1_config: [true, true, true, 
                               false, false, false, 
                               false, false, false, 
                               false, false, false,
                               false, false, false]
odom1_differential: false