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navsat_transform_node not publishing ? with Mavros

asked 2020-02-27 04:02:58 -0500

TomSon gravatar image

Hello all, I would like to use the robot_localization package to get back the missing TF transform from mavros topics (I didn't configure it during a rosbag record) on Melodic (from src) I'm using a rosbag with sim time.

My current configuration is : (I'm trying different setups)

<launch>
<node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" clear_params="true">
<rosparam command="load" file="$(find robot_localization)/params/navsat_transform_template.yaml" />

  <remap from="imu/data" to="mavros/imu/data"/>
  <remap from="odometry/filtered" to="mavros/global_position/local"/>
  <remap from="gps/fix" to="mavros/global_position/raw/fix"/>
</node>
</launch>

The yaml file

# Frequency of the main run loop
frequency: 3
transform_timeout: 0.1
delay: 0
magnetic_declination_radians: 0
yaw_offset: 0.0
zero_altitude: true
broadcast_utm_transform: true
broadcast_utm_transform_as_parent_frame: false
publish_filtered_gps: false
use_odometry_yaw: false
wait_for_datum: true
datum: [XXX.716188, XX.213047, 0.0]

I'm using for this purpose but on another robot I will have to use it with ekf node (no mavros). So I would like to be sure to understand it. Mavros is already sending a odom topic but I would like to use only the gps and the imu.

For visualization, I'm also using mapviz.

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Comments

I can provide on MP a rosbag

TomSon gravatar image TomSon  ( 2020-02-27 04:04:08 -0500 )edit

Seems that I cannot directly use the navsat_transform node without ekf one : link

So I tried the ekf alone and it seems to do the job.

TomSon gravatar image TomSon  ( 2020-02-27 06:09:26 -0500 )edit

Does that mean you've answered your question? If so, can you convert your comment to an answer and then select it as the correct answer? Thanks.

Tom Moore gravatar image Tom Moore  ( 2020-04-27 02:37:35 -0500 )edit

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answered 2020-05-05 03:33:07 -0500

TomSon gravatar image

Seems that I cannot directly use the navsat_transform node without ekf one So I tried the ekf alone and it seems to do the job.

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Asked: 2020-02-27 04:02:58 -0500

Seen: 49 times

Last updated: May 05