Robot localisation with GPS and IMU only

asked 2018-06-20 05:57:08 -0500

Surya_Jayaraman gravatar image

I am new to ROS. I am trying to fuse GPS and IMU (no Odometry sensor) using Robot localisation package. I am using the ekf_navsat_transform template launch file for my purpose. ekf_navsat_ros_wiki_answer

Navsat transform: Inputs: /imu, /fix(GPS data) and /odometry/filtered Output: /odometry/gps

EKF_localization node: Inputs: odometry/gps, /imu Outputs : /odometry/filtered

GPS is running at 5Hz and imu at 100Hz. When i run the launch file, I am getting erroneous odometry/filtered output ( almost stationary when viewed on rviz). I'm unable to get the correct transform.

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Could you please try and see whether any of these previously asked questions cover your question?

gvdhoorn gravatar image gvdhoorn  ( 2018-06-20 07:22:57 -0500 )edit

Thanks @gvdhoorn, I had looked at those questions, ran through all the possible combinations yet not able to find a solution. I have some doubts. Do I need to provide a static transform between the odom link and the map? I guess my Navsat_transform node isnt right (odometry/gps is "unknown").

Surya_Jayaraman gravatar image Surya_Jayaraman  ( 2018-06-22 05:53:52 -0500 )edit

If there are any errors in my launch file that you could point to, it would be great. I also have tried dual ekf transform with navsat transform. (Dual_ekf_launch_navsat_transform. This configuration also provides erroneous o/p.

Surya_Jayaraman gravatar image Surya_Jayaraman  ( 2018-06-22 06:02:15 -0500 )edit

Please edit the question by including your launch/config file, as well as sample sensor messages for each sensor input.

Tom Moore gravatar image Tom Moore  ( 2018-06-29 02:50:42 -0500 )edit