How have a static map to understand its GPS coordinates?

asked 2019-06-27 14:54:16 -0600

JackB gravatar image

I am using rviz, gazebo, and a Clearpath Husky with GPS, IMU, encoders, and LIDAR to simulate autonomous navigation in an outdoor environment.

Using robot localization I have an ekf_odom and ekf_map node combined with a navsat_transform working like a charm to localize me in the GPS world. These setup outputs the transforms from map->odom->baselink nicely.

The problem I have been running into over the past couple days is how do I properly specify a static map/map_server so that it overlays my gazebo 3D world and so that each time a spawn the robot it is properly localized within the static map in rviz. This is not well documented in and tutorial and has been quite frustrating.

I think it has something to do with the datum, or a static transform for the map from the UTM frame but I cannot be sure, and messing around with the launch files for a week has not gotten me any closer to the answer. If you need to see any launch files let me know and I'll update the post ASAP.

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