Global localization with only VO and GPS

I have a handheld stereo camera and GPS contraption. I use the EKF node in robotlocalization with visual odometry to obtain the filtered /odom and the odom->baselink transformation. Now my question is, how can I use navsattransform + EKF to get map->odom transformation in the absence of an IMU?

Asked by goltata on 2017-06-22 01:56:46 UTC

Comments

Answers

You must have an earth-referenced heading in order to use navsat_transform_node. For this, you will either need a magnetometer (and a driver that generates a ROS sensor_msgs/Imu message), or you can write a node that extracts the heading from the GPS data and throws it into an IMU message. You can also do the GPS differentiation yourself to generate the heading and IMU message.

Asked by Tom Moore on 2017-09-22 14:25:22 UTC