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Does navsat_transform_node Require Constant Subscription to odometry/filtered?

asked 2020-10-06 09:34:51 -0600

jin031214 gravatar image

updated 2020-10-06 13:14:59 -0600

My understanding is that navsat_transform_node unsubscribes from all inputs except the GPS itself once the static transform is generated using IMU and ekf data. However, the IMU topic seems to be the only one that gets unsubscribed. Is this an unexpected behavior or does navsat_transform_node recalculate the transformation once in a while using odometry/filtered data?

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answered 2021-02-01 09:27:30 -0600

xaru8145 gravatar image

The static transform gets published only one time once it has all the required transforms unless a set datum service is called. In this case, the static tf from odom->utm will be overridden taking into account the new datum.

After you determine the static tf, the odometry sub is no longer needed unless you have publish_filtered_gps turned on. This allows you to take the /odometry/filtered topic from the EKF and transform it into a GPS NavsatFix topic /gps/filtered (latitude and longitude).

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Asked: 2020-10-06 09:34:51 -0600

Seen: 132 times

Last updated: Feb 01 '21