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what is the coordinates in robot_localization

asked 2017-06-15 20:29:45 -0500

DaDaLee
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Hi Tom/all: As suggested in robot_localization document and REP 103, the imu data is required to be adhere to frame like "x forward, y left, z up", and odom data should adhere to frame like "x east, y north, z up" (which is ENU coordinates). Is that so? The relevant input data should go with the coordinates mentioned above or we need to broadcast transform from imuMsg->frame_id to baselink and odomMsg->frame_id to odom. By the way, what coordinate should GPS data adhere to ? I have no idea whether I'm right. I do appreciate it if someone can enlighten it to me.

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answered 2017-09-22 14:22:14 -0500

Tom Moore

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All the data is transformed into its target frames before being fused. Pose data will get transformed in the frame dictated by the world_frame parameter, and twist data will get transformed into the frame dictated by the base_link_frame parameter.

GPS data should adhere to the standards in the sensor_msgs/NavSatFix message.

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Asked: 2017-06-15 20:29:45 -0500

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Last updated: Sep 22 '17

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