how to fuse two GPS into navsat_transform?
Hi, dear:
I wonder to know how to fuse two GPS into navsat_transform if I have two imu
(imu0 & imu1), two odometry
sources(odom0 & odom1), two gps
sources(gps0 & gps1)?
As my understanding:
- for
EKF_local_node
, just fuse imu0 & imu1, odom0 & odom1. - for
EKF_global_node
, fuse imu0 & imu1, odom0 & odom1, and also feed the odom2 & odom3(generated by two gps sources gps0 & gps1, output of navsat_transform node ) into it. - launch
navsat_transfor_node_0
node, feed into imu0 & gps0 & output of step 2. - launch
navsat_transfor_node_1
node, feed into imu1 & gps1 & output of step 2.
Is this right? Please correct me if I'm wrong.
And another question:
a). In step3
and step4
, how to verify which imu sources should feed in?
I mean in step3, can I change imu0->imu1 and in step4 change imu1->imu0 or other options? how to determine this? I don't think in navsat_transform node it can support multiple imu imput sources.
b). should I turn on each UTM's broadcast_utm_transform
?
c). And any other place should I pay attention to?
Thank you very much for your help!