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Is there any way to move a robot from A to B points in the Map using only a RTK GPS for localization?

asked 2018-10-09 08:18:02 -0500

shobhit1893 gravatar image

Hi,

I am working on path coverage problem using a RTK-GPS on a differential drive automatic model. I do not have laser or lidar for the purpose that they serve. Is there anyway to move the robot from a to b on a map by using rtk-gps data for localization on a map.

Thanks Shobhit

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You can try using the way_point navigation stack . https://www.clearpathrobotics.com/201...

chrissunny94 gravatar imagechrissunny94 ( 2018-10-26 00:44:42 -0500 )edit

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answered 2018-10-11 14:21:16 -0500

shiv_rar gravatar image

Hey there are several ways to get this up and running.

For existing packages I'll point you to robot_localisation package( https://github.com/cra-ros-pkg/robot_... ) with doc's here: http://docs.ros.org/melodic/api/robot...

There has been discussions to get this package up and running with move_base for navigation also in this answer: https://answers.ros.org/question/2021...

If you want to do it manually we addressed a workflow for getting this type of localisation up and running at this year's ROSCon which you can find here: https://roscon.ros.org/2018/presentat...

The summary of the presentation is that you tie the origin of the static map to some known lon, lat and alt and from that; set up the proper transforms using the GPS data from the ground bot and dead reckoning to localise the robot in the static map.

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Hi Shiv, Thanks for the information. I am currently working on a differential model and would like to move the robot from A to B. Is there any existing gitlink with PID or MPC implementation that can help.

Thanks a lot. Shobhit

shobhit1893 gravatar imageshobhit1893 ( 2018-10-12 07:57:05 -0500 )edit

I'm not sure what you are asking for? What do you need the PID or MPC for? In the answer above I linked a localisation package that can help with setting up the system for using the nav stack and moving the robot to goals.

shiv_rar gravatar imageshiv_rar ( 2018-10-12 08:17:26 -0500 )edit

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Asked: 2018-10-09 08:18:02 -0500

Seen: 86 times

Last updated: Oct 11 '18