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You're trying to launch a navsat_transform node without odometry data. The navsat_transofrm node requires three inputs:

1. GPS data

2. IMU data

3. Odometry data

You have the first two and you're not publishing on the third one. If you look at the navsat_transform node documentation found here, you'll notice that the /odometry/filtered topic is remapped to /your/robot_localization/output/topic.

<remap from="/odometry/filtered" to="/your/robot_localization/output/topic" />

In your case, you do not have access to odometry information from your android device(I looked at your bag file). So, you need to us ethe gps and Imu data with one of the state estimation nodes of the robot_localization package. The output of your state estimation node will give you an odometry, which you can then pass into the navsat_transform node to get your robot localized.

Also see these answers for reference:

• https://answers.ros.org/question/200071/how-to-fuse-imu-gps-using-robot_localization/?answer=200087#post-id-200087

• https://answers.ros.org/question/236588/imu-and-gps-fusion-without-odom-robot_localization/?answer=237043#post-id-237043

You're trying to launch a navsat_transform node without odometry data. The navsat_transofrm node requires three inputs:

1. GPS data

2. IMU data

3. Odometry data

You have the first two and you're not publishing on the third one. If you look at the navsat_transform node documentation found here, you'll notice that the /odometry/filtered topic is remapped to /your/robot_localization/output/topic.

<remap from="/odometry/filtered" to="/your/robot_localization/output/topic" />

In your case, you do not have access to odometry information from your android device(I looked at your bag file). So, you need to us ethe use the gps and Imu data with one of the state estimation nodes of the robot_localization package. The output of your state estimation node will give you an odometry, which you can then pass into the navsat_transform node to get your robot localized.

Also see these answers for reference:

• https://answers.ros.org/question/200071/how-to-fuse-imu-gps-using-robot_localization/?answer=200087#post-id-200087

• https://answers.ros.org/question/236588/imu-and-gps-fusion-without-odom-robot_localization/?answer=237043#post-id-237043