IMU_GPS robot_localization and navsat_transform_node

edit

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 ...