GPS navigation with mobile robot
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!
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.
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.
Did you look here yet? http://wiki.ros.org/robot_localizatio...
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.
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
Did you find a way to do GPS navigation ? I'm interested yo know if you made any progress
Unfortunately I didn't yet! Still working on it
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.