Revision history [back]

I have solved this issue, My GNSS Heading is provided in terms of an angle between 0 and 360 degrees True North, i then cast this to a domain between pi and -pi for the Pose message. The way i was casting this angle to the new domain was incorrect and hence the gps odometry was showing an incorrect orientation which when fused with the ekf was applying that orientation to the ouput meaning the robot was getting lost.