GPS + IMU + odometry robot_localization demo

asked 2017-10-17 04:28:43 -0500

tulku gravatar image

updated 2017-10-19 03:03:54 -0500

Hi! (specially Tom Moore)

I'm setting up a demo on robot localization, something very similar to what was presented in ROSCon 2015, showing GPS + IMU + Odometry, and show how the map frame jumps and the odom frame is continuous.

I would like to use this demo to then modify the different model and sensor covariances to understand how they change the filtered output, however I don't have access to hardware to record a bagfile with the data as it should.

Tom, do you happen to still have the bagfile you used for the 2015 demo? (and the launchfiles ideally)

Somebody else has a dataset that could be used? I looked for the tests bagfiles in the robot_localization package, but they don't include GPS information.


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You could see if any of the sites/services mentioned in Rosbag sharing place has something that fills your need.

gvdhoorn gravatar image gvdhoorn  ( 2017-10-19 03:13:23 -0500 )edit

I'm not entirely sure I remember exactly which bag file that was, but if it's the same one I used for the paper, I'm afraid I don't have it anymore. CRA used to host it on their website, but it looks like it's been deleted.

Tom Moore gravatar image Tom Moore  ( 2018-01-18 11:05:00 -0500 )edit