GPS navigation with mobile robot

asked 2016-06-28 05:11:13 -0500

Marcus Barnet gravatar image

updated 2016-06-28 05:16:17 -0500

Hi to all,

I have a GPS system (base station + rover station) with a sub-inch accuracy and I would like to use it on my mobile robot for ground navigation.

I have recorded a set of GPS points and I would like to make my robot follow them in order to be able to follow a specific track using GPS coordinates.

Is there any ROS package or solution which can I use as reference?

I think my robot should load all the coordinates and check them with its current location by adjusting it if it is different. The problem is: how to make the robot move in the correct direction?

I hope you can help me!

Thank you!

edit retag flag offensive close merge delete

Comments

It's not clear from your question if you're familiar with ROS or not. Are you asking a general question about capabilities of ROS or are you looking for specific details about a node?

BTW, what GPS system are you using that gives you sub-inch accuracy? I'd like to learn more about that.

billy gravatar imagebilly ( 2016-06-28 14:34:27 -0500 )edit

I'm pretty familiar with ROS and I would like to know if there is any ROS node which can help me. I'm using RTK Novatel GPS. It uses a base station which is a fixed GPS module and a rover station which must be installed on the robot.

Marcus Barnet gravatar imageMarcus Barnet ( 2016-06-28 16:27:46 -0500 )edit
billy gravatar imagebilly ( 2016-06-28 23:31:39 -0500 )edit

yes, i looked at that link, but it only gives information on how to integrate the GPS, but it doesn't explain how to make the robot follow GPS coordinates, unfortunately.

Marcus Barnet gravatar imageMarcus Barnet ( 2016-06-30 11:54:13 -0500 )edit

At a simple level, couldn't you feed goal poses to move_base and let move_base provide the control? The GPS input is accurate enough that it could be presented as odometry. With the map-odom tf being a static zero you skip the localization step.

NOTE: I'm new to ROS and move_base is my hammer.YMMV

billy gravatar imagebilly ( 2016-06-30 14:55:35 -0500 )edit

Did you find a way to do GPS navigation ? I'm interested yo know if you made any progress

Kiwa21 gravatar imageKiwa21 ( 2016-08-27 11:47:51 -0500 )edit

Unfortunately I didn't yet! Still working on it

Marcus Barnet gravatar imageMarcus Barnet ( 2016-08-27 15:20:53 -0500 )edit

At the moment, I'm using robot_localization and navsat_transform_node with GPS, but I'm still not having good results. Hope someone can help about this.

Marcus Barnet gravatar imageMarcus Barnet ( 2017-09-07 02:05:22 -0500 )edit