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How to use robot_localization of ROS for fusing IMU & GPS implementaion in my framework

asked 2018-12-06 07:44:15 -0600

Mus007 gravatar image

Hi, i have frame work in which there are certain navigation things has been created like dead reckoning, image Processing for gps mapping, now for prediction purpose i want to use fusion of imu & gps which is already done on ROS and integrate into my framework. Any headsup or links how should i do it or start linking it with my framework? I am also using rasberry pi for getting imu values.

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answered 2018-12-06 09:32:16 -0600

Lucas Marins gravatar image

updated 2018-12-06 09:45:08 -0600

You can use the robot_localization package to fuse all data using Kalman Filters. You just need to configure which type of information you want to use on parameters and which topic you want to subscribe.

"<rosparam param="odom0_config">[true, true, false,
                                false, false, true,
                                true, false, false,
                                false, false, true,
                                false, false, false]</rosparam>"

The order of the boolean values are (X,Y,Z, roll,pitch,yaw, X˙,Y˙,Z˙, roll˙,pitch˙,yaw˙ ,X¨,Y¨,Z¨).

http://wiki.ros.org/robot_localization

http://docs.ros.org/melodic/api/robot...

Integration with GPS: http://docs.ros.org/melodic/api/robot...

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Asked: 2018-12-06 07:44:15 -0600

Seen: 112 times

Last updated: Dec 07 '18