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Global localization with only VO and GPS

asked 2017-06-22 01:56:46 -0500

goltata gravatar image

I have a handheld stereo camera and GPS contraption. I use the EKF node in robot_localization with visual odometry to obtain the filtered /odom and the odom->baselink transformation. Now my question is, how can I use navsat_transform + EKF to get map->odom transformation in the absence of an IMU?

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answered 2017-09-22 14:25:22 -0500

Tom Moore gravatar image

You must have an earth-referenced heading in order to use navsat_transform_node. For this, you will either need a magnetometer (and a driver that generates a ROS sensor_msgs/Imu message), or you can write a node that extracts the heading from the GPS data and throws it into an IMU message. You can also do the GPS differentiation yourself to generate the heading and IMU message.

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Asked: 2017-06-22 01:56:46 -0500

Seen: 212 times

Last updated: Sep 22 '17