IMU_GPS robot_localization and navsat_transform_node
Hi everyone, I have some car GPS data (about 1Hz) in my hand, and there is an electronic device built-in IMU in the car to collect IMU data (about 1KHz). The direction of the IMU on the car is the Z axis forward, the X axis right, and the Y axis point to the ground.However, because GPS will drift (some have left the road), it can not be used as accurate data for positioning algorithms.So I decided to use the robot_localization package to put the two kinds of data together, generating new, more accurate GPS data for future use.And I have referred to this post's answer ( https://answers.ros.org/question/2000... ). But my current program can not get the output (even if it is not accurate), I hope you can help me analyze the reasons. In addition, I finally hope to get GPS or UTM data. Thank you!
the rqt pic is here:
the launch file is here:
<launch>
<rosparam command="load" file="$(find robot_localization)/params/ekf_imu_gps.yaml" />
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_se_map" clear_params="true">
<remap from="odometry/filtered" to="odometry/filtered_map"/>
</node>
<node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform" clear_params="true">
<remap from="odometry/filtered" to="odometry/filtered_map"/>
</node>
</launch>
the pramater file is here:
ekf_se_map:
frequency: 30
sensor_timeout: 0.1
two_d_mode: true
transform_time_offset: 0.0
transform_timeout: 0.0
print_diagnostics: true
debug: false
map_frame: map
odom_frame: odom
base_link_frame: base_link
world_frame: odom
# odom0: odometry/gps
odom0: odometry/gps
odom0_config: [true, true, false,
false, false, false,
false, false, false,
false, false, false,
false, false, false]
odom0_queue_size: 10
odom0_nodelay: true
odom0_differential: false
odom0_relative: false
imu0: imu/data
imu0_config: [false, false, false,
false, false, false,
false, false, false,
true, true, true,
true, true, true]
imu0_nodelay: false
imu0_differential: false
imu0_relative: false
imu0_queue_size: 10
imu0_remove_gravitational_acceleration: true
use_control: false
process_noise_covariance:
[1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0,
0, 0, 0, 0 ...
the new bag file is here:NEW_bagfile