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Just had a quick look through your navsat_transform_template.launch file. It looks like your magnetic declination parameter is set to

value="0,00436332"

With a comma "," instead of a dot "." I'm pretty sure this should be a dot. Otherwise, navsat_transform won't be using the correct magnetic declination, so its /odomtry/gps output will have a systematic error in it which will mess up everything from that point onwards.

I'll have a look through the bag file when I can just to confirm if this is your problem.

Just had a quick look through your navsat_transform_template.launch file. It looks like your magnetic declination parameter is set to

value="0,00436332"

With a comma "," instead of a dot "." I'm pretty sure this should be a dot. Otherwise, navsat_transform won't be using the correct magnetic declination, so its /odomtry/gps output will have a systematic error in it which will mess up everything from that point onwards.onwards. In general, double check your magnetic declination and yaw offset - I can't stress enough how critical those parameters are. If they aren't correct then navsat_transform will just give your erroneous data.

I'll have a look through the bag file when I can just to confirm if this is your problem.

Just had a quick look through your navsat_transform_template.launch file. It looks like your magnetic declination parameter is set to

value="0,00436332"

With a comma "," instead of a dot "." I'm pretty sure this should be a dot. Otherwise, navsat_transform won't be using the correct magnetic declination, so its /odomtry/gps output will have a systematic error in it which will mess up everything from that point onwards. In general, double check your magnetic declination and yaw offset - I can't stress enough how critical those parameters are. If they aren't correct then navsat_transform will just give your you erroneous data.

I'll have a look through the bag file when I can just to confirm if this is your problem.