Revision history [back]

Hi,

From my understanding you should be able to do with IMU data.

In section 3.1.2 IMU Data under robot_localization / Tutorials / GPS Integration, the dev mention : This information is only relevant if the user is not manually specifying the origin via the datum parameter or the set_datum service.

Furthermore if you look in the code you will find:

if (!use_odometry_yaw_ && !use_manual_datum_)
{
  imu_sub = nh.subscribe("imu/data", 1, &NavSatTransform::imuCallback, this);
}

However from my experience with this package, supplying the correct YAW offset is very important. If you are unsuccessful with the datum option, it may be the yaw offset you supply.

Alexandre

Hi,

From my understanding you should be able to do with without IMU data.

In section 3.1.2 IMU Data under robot_localization / Tutorials / GPS Integration, the dev mention : This information is only relevant if the user is not manually specifying the origin via the datum parameter or the set_datum service.

Furthermore if you look in the code you will find:

if (!use_odometry_yaw_ && !use_manual_datum_)
{
  imu_sub = nh.subscribe("imu/data", 1, &NavSatTransform::imuCallback, this);
}

However from my experience with this package, supplying the correct YAW offset is very important. If you are unsuccessful with the datum option, it may be the yaw offset you supply.

Alexandre