Robot Localization GPS go down
I'm using the robot_localization package. The first ekf node to fuse odometry and IMU data. The second ekf node to fuse odometry, navsat_node output and IMU data. I use datum parameter in navsat's roslaunch to create a fixed transform between map and odom.
The first problem is that this transformation doesn't remain fixed.
The second question is: if i lose the GPS signal, the second kalman filter continues an open loop position estimation in map frame or gives the same output of the first ekf?