Robot localisation with GPS and IMU only [closed]
I am new to ROS. I am trying to fuse GPS and IMU (no Odometry sensor) using Robot localisation package. I am using the ekf_navsat_transform template launch file for my purpose. ekf_navsat_ros_wiki_answer
Navsat transform: Inputs: /imu, /fix(GPS data) and /odometry/filtered Output: /odometry/gps
EKF_localization node: Inputs: odometry/gps, /imu Outputs : /odometry/filtered
GPS is running at 5Hz and imu at 100Hz. When i run the launch file, I am getting erroneous odometry/filtered output ( almost stationary when viewed on rviz). I'm unable to get the correct transform.
launch_file_drive_linktopic_monitor_outputtf_tree_output
Could you please try and see whether any of these previously asked questions cover your question?
Thanks @gvdhoorn, I had looked at those questions, ran through all the possible combinations yet not able to find a solution. I have some doubts. Do I need to provide a static transform between the odom link and the map? I guess my Navsat_transform node isnt right (odometry/gps is "unknown").
If there are any errors in my launch file that you could point to, it would be great. I also have tried dual ekf transform with navsat transform. (Dual_ekf_launch_navsat_transform. This configuration also provides erroneous o/p.
Please edit the question by including your launch/config file, as well as sample sensor messages for each sensor input.