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1 | initial version |
A bunch of things:
Regarding this:
I am experiencing "Initial odometry pose is " which I don't believe to be correct as you can see I have use_odometry_yaw false
Let's say you start your robot indoors, where there is no GPS signal. You drive around for a long time, then go outdoors. In order to properly create the utm->map transform, we need to know your map frame pose at the time the first GPS signal is received, so that we can invert that pose (transform) so that the first UTM coordinate that we receive cooresponds to that current map pose, and doesn't produce a (0, 0)
position measurement.
In other words, this is normal and correct behavior.
The reason I ask for (1) is that navsat_transform_node
does this:
odometry/gps
poses to vary as wildly as you are saying the goals do.In the end, though, I can't comment without a lot more information.