robot_localization odom and utm frames

Hi. I'm working with the package robot_localization, i use navsat and ekf nodes, the output topic is correct. I wanted to ask two questions, first, it is possible to obtain odometry filtered in UTM?

Edit2

I want to actually send out an odometry message with the UTM frame, i have to write a node. The other question is that i have a GPS in other position that not is (0,0,0) of base link, it is placed on one side of the robot one meter from the center of base link.

Thanks

Asked by Porti77 on 2015-06-29 10:07:54 UTC

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Answers

If I understand you correctly, you'd like:

Your latest odom-frame pose in the UTM frame
Your latest odom-frame position as a GPS coordinate (let me know if this is not what you meant)

If I'm correct, then there are ways of obtaining both.

For getting your odom-frame position in the UTM frame, you can use the broadcast_utm_transform parameter. If that parameter is set to true, navsat_transform_node will broadcast an odom->utm transform that other nodes can use to convert the data into whatever format they require. If you want to actually send out an odometry message with the UTM frame, you'll have to write a quick node to take in the odom pose, transform it to utm, then broadcast it.

If you want your robot's current filtered odom position as a GPS coordinate, you can set the publish_filtered_gps parameter to true in navsat_tranform_node. It will produce a NavSatFix message with your current filtered pose as a GPS coordinate.

Response to edit

I still have not implemented the change you are describing, but it's on my list:

https://github.com/cra-ros-pkg/robot_localization/issues/114

Asked by Tom Moore on 2015-06-29 12:53:11 UTC